Shannon's sampling theorem tells us that the largest useful frequency component that is retained when a signal is sampled is half the sampling rate. In practice, however, we wish to make the sampling rate at least 5 times larger than the maximum frequency of interest. In a servocontroller of a robotic manipulator, suppose that the maximum frequency of interest in a measured motion signal (angular position and angular speed) is 50 Hz. What is an acceptable ADC conversion rate to be used in an associated digital controller? Suppose that 12 channels of data (six joints with a position channel and speed channel for each joint) are sampled and read into the digital controller. The control microcontroller needs 10μs to read a data sample from one channel. Assuming 3 byte instructions on the average, the average instruction cycle time (fetch and execute) is known to be 6μs. Estimate the program size (number of instructions) of the control algorithms