I recently completed "Congregations," a work for 8 cellos, commissioned by Cello Octet Amsterdam, to be premiered in late 2010 in Amsterdam. The piece is in four movements, "String Band," "Minyan," "Sparring Match," and "Refuge."
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Here is a photo at Trimpin's studio in Seattle, where he is describing to me his ideas for the chime mechanism:
The robotic instruments are controlled remotely by a Radiodrum (a 3-D performance controller with six degrees of freedom.) The work includes a set of chimes that surround the audience and are controlled remotely by the radiodrum, as well as remote control xylophone, glockenspiel and piano.
The piece was commissioned by Andrew Schloss and is an homage to spatial music pioneer Henry Brant.
The photo below shows the prototype xylophone mechanism: