9320098 Barbieri This award is for assembling a high performance platform for the synthesis and implementation of advanced sensing and control algorithms. Testbed hardware is for applications in robotics and flexible structure sensing and control. The platform is designed around a 486-class computer. It is equipped with a 20 MHz 4-channel digital scope, and a DSP motion controller based on a Texas Instrument TMS 320C30 floating-point DSP board, a 12-bit D/A converter, a 32-channel 16-bit A/D converter, a five channel incremental encoder, two digital I/O and timers, and a real time tracer. The boards are enclosed within a 20-slot industrial-quality box and interconnected via a 32-bit bus. High-level programming is done at the system block level via SIMULINK. The MATLAB files are automatically converted to portable C-code and downloaded to the DSP boards. The station will have a direct impact on the following interdisciplinary ongoing research projects: (1) use of redundant degrees of freedom in a manipulator to suppress vibrations, (2) modeling and control of flexible structures instrumented with an ultrasonic ranging system, (3) nonlinear control of a flexible arm using inertial devices, and (4) development of an ultrasonic 3-dimensional vibration measurement system and generic modeling of intelligent learning sensors. *** 9320098 Barbieri This award is for assembling a high performance platform for the synthesis and implement ation of advanced $ $ G P P Times Symbol " Helvetica Chicago Times New Roman & Arial 5 Courier New R ZapfDingbats Palatino Greek GenMath MathMeteor MT Extra " e e 8 Barbieri/Tulane Mark Purvis Mark Purvis
