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In the summer of 1999, we had used the bottom solarheatingpanels two layers of 3T to provide autonomous control for a single subsystem--a second-generation biological water processor--during solarheatingpanels 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 solarheatingpanels of skill specifications for each subsystem (figure 5).

In the summer of 1999, we had used the bottom solarheatingpanels two layers of 3T to provide autonomous control for a single subsystem--a second-generation biological water processor--during solarheatingpanels 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 solarheatingpanels of skill specifications for each subsystem (figure 5).

w/100'' boom; One Skagit Model 353, 34 t @ 30'' w/80'' boom.OTHER DATA: Same as Ocean Nugget, except Varco SDS-1 side drive.WORK AREA: Gulf of Mexico.OCEAN SPARTANRIG DESIGN: Friede & Goldman Ltd., L-780CONSTRUCTION: Swedeyards Gotaverkan, Arandal, Sweden, 1980.PERFORMANCE: Water depth--250''; Drilling depth--20,000''.QUARTERS: 76 persons, plus 2-man sick bay.HULL: 180''x 175'' x25''.VARIABLE LOAD: 4,190 kips.HELIPORT: 62'' diameter for S61.STORAGE: Mud & Cmt Bulk--9,670 cf, plus 3,000sacks; Liquid Mud--1,985 bbl; Water for Drilling--5,450