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In the summer of 1999, we had used the bottom two layers of 3T to provide autonomous control for a single subsystem--a second-generation biological water processor--during a 450-day, 24-hour-a-day, 7-day-a week test. Then in January 2000, the Advanced Water Research Group received ALS funding for the year-long IWRS test, involving four advanced water-recovery subsystems (Bonasso 2001) (see Advanced Water Recovery System sidebar).BuildupUsing 3T allowed us to develop the control for the IWRS in a modular fashion in two ways. First, moving from bottom to top (figure 4), each layer has its own data structures, timing constraints, and development tools that allow for parallel development of the software. Thus, we were able to develop skills sets based on the evolving hardware specifications and simultaneously develop the sequencer procedures. Early on, as the water research team developed the design for each subsystem, one part of the 3T team wrote the sequencer procedures for each subsystem in the RAPS language (which, in turn, is written in Lisp) (1) using virtual skills, that is, Lisp skills connected to a Lisp simulation of the expected hardware. A virtual simulation of, say, the reverse-osmosis subsystem could then be shown on a laptop to the WRS engineers and the control design refined in an iterative process even before the actual hardware was available. The primary result of this process was a set of skill specifications for each subsystem (figure 5).
Ultrasound works magicOne tool that South Dakota beef producers Blane and Cindy Nagel can''t do without is an ultrasound machine. All heifers on their 300-head Maine-Anjou herd are scanned each May and then bred according to their muscle scores and marbling levels. Ultrasound data for all sale bulls is provided to potential buyers. "As a breeder, I use it as a mating tool," says Blane, who farms near Springfield. "The buyers of my bulls use it as a selection tool." Nagel pays most attention to the marbling around the ribeye area. His cattle naturally muscle well, so he is looking for those who are also heavily marbled.
In the thicket of the Carolina Lowlands, the whirring buzz and grind of a lone chip mill disturbs the summer symphony of rustling branches, crickets and the guttural call of wild turkeys. As the highly-automated leviathan roars with efficiency, stripping bark and grinding trees into usable flakes for the paper and pulp industries, hunters and environmentalists do a little roaring of their own. Concerned the voracious chippers will devastate Southern forests, their interest groups are calling for heightened regulations and a moratorium on new mills until their impacts have been studied.
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