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Results and analysis for a dozen tanks included in the study are shown in the bar chart on page 47."We typically found from 1 quart to 1 gallon of dirt and rust in the bottom of tanks we cleaned," says Country Energy''s Norm Dooley. "And in one case, we found 4 1/2 gallons of contaminants in the tank."Dirt, rust are main problemsA lab analysis of material from selected tanks shows the contaminants are primarily dirt and rust. "We assume the dirt got into the tanks during filling (when the cap was removed) or it could have blown into the tanks through the vent cap. It''s also likely that dust was sucked into the tanks when they naturally breathed as fuel volume or air temperature changed," says Dooley.

In 1997, they put 2 men and 2 women in a 30-foot chamber for 91 days (Schreckenghost et al. 1998b). A physical-chemical air revitalization system recycled the air for 3 of the 4 people, and a wheat crop in the 10-foot chamber did the same for the fourth. The ALS team also experimented with a solid-waste incinerator. Our second ALS AI control system managed the transfer of O2 and CO2 among the gas reservoirs for this test to ensure crew and crop health and to recycle gases produced by waste incineration. These reservoirs included a crew habitat, a plant chamber, an airlock, and a number of pressurized tanks (figure 1). Operating 24 hours a day, 7 days a week, the AI system also used a generative planner that scheduled waste incinerations and crop planting and harvesting, coordinating these tasks with the day-to-day product gas transfer. For both these projects, we used a three-layer architecture (Gat 1998) to design, organize, and develop the control software. AR&SD had used a particular implementation of this architecture known as 3T (see The 3T Intelligent Control System) in a number of robot projects prior to 1995 (Bonasso et al. 1997), and because life support systems are a form of immobots (Williams and Nayak 1996), its application to ALS projects was straightforward.

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