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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).

DERRICK: 147''; 1,044,000-lb hook load capacity.BOP SYSTEM: One 13 5/8", 5,000-psi annular; two13 5/8", 10,000-psi double ram type; Regan KFDJ diverter.CRANES: Two Link Belt 218A, 33 t @ 30''.MOORING: Four 10,000-lb anchors, four anchorwinches and four 2,500'' lines.REMARKS: Formerly Arethusa Heritage.WORK AREA: Indonesia.OCEAN SOVEREIGNCONSTRUCTION: Far East Levingston Shipyard, Singapore, 1981.REMARKS: Formerly Arethusa Sovereign.BOP SYSTEM: One 21,", 2,000'' psi annular diverter.DRILLING EQUIPMENT: Prime movers--five Cat. D-399; Top Drive--Varco

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