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The scientific objectives of the Ulysses Unified Radio and Plasma wave (URAP) experiment are twofold: (1) the determination of the direction, angular size, and polarization of radio sources for remote sensing of the heliosphere and the Jovian magnetosphere and (2) the detailed study of local wave phenomena, which determine the transport coefficients of the ambient plasma. A brief discussion of the scientific goals of the experiment is followed by a comprehensive description of the instrument. The URAP sensors consist of a 72.5 m electric field antenna in the spin plane, a 7.5-m electric field monopole along the spin axis of a pair of orthogonal search coil magnetic antennas. The various receivers, designed to encompass specific needs of the investigation, cover the frequency range from dc to 1 MHz. A relaxation sounder provides very accurate electron density measurements. Radio and plasma wave observations are shown to demonstrate the capabilities and limitations of the URAP instruments: radio observations include solar bursts, auroral kilometric radiation, and Jovian bursts; plasma waves include Langmuir waves, ion acousticlike noise, and whistlers.