Presidential Young Investigator Award
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
This project is a multidisciplinary activity involving research                 in adaptive control, robotics and magnetic disk technology.  The                adaptive control work concerns theoretical and practical                        considerations in the design of robust adaptive controllers for                 mechanical systems in the presence of unmodelled dynamics, such                 as high frequency flexural modes, and mechanical nonlinearities,                such as Coulomb friction and stiction.  The robotics work                       concerns investigating the derivation, development, and                         experimental verification of continuous time and discrete time                  adaptive control schemes for robotic manipulators and the                       development of cartesian space straight line trajectory                         generation algorithms and robot motion control using end effector               cartesian coordinates feedback instead of joint coordinates                     feedback control.  In the area of magnetic disk technology, the                 research addresses the application of self tuning techniques to                 measure the absolute in-plant motion of the recording head and                  control tuning and testing of high performance disk file systems.
{'FirstName': 'Roberto', 'LastName': 'Horowitz', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Roberto Horowitz', 'EmailAddress': 'horowitz@me.berkeley.edu', 'NSF_ID': '000445246', 'StartDate': '06/22/1993', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of California-Berkeley', 'CityName': 'BERKELEY', 'ZipCode': '947101749', 'PhoneNumber': '5106433891', 'StreetAddress': '1608 4TH ST STE 201', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'California', 'StateCode': 'CA', 'CONGRESSDISTRICT': '12', 'CONGRESS_DISTRICT_ORG': 'CA12', 'ORG_UEI_NUM': 'GS3YEVSS12N6', 'ORG_LGL_BUS_NAME': 'REGENTS OF THE UNIVERSITY OF CALIFORNIA, THE', 'ORG_PRNT_UEI_NUM': None}
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[{'Code': '1445', 'Text': 'DYNAMICS & CONTROL'}, {'Code': '9145', 'Text': 'SPECIAL PROGRAMS-RESERVE'}]
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1986&All=true', 'xml': '8657520.xml'}