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Special features: 1790 Front-Fold Planter* All-new Central Commodity System - Seed Delivery provides the convenience and productivity of bulk fill* Translucent, durable seed tanks hold up to 100 bushels of seed* New Pro-Series row-units are equipped with mini-hoppers that minimize weight variation on the row-units as you move across the field* Up to 47 inches of row-unit stagger when both front and rear ranks are down provides impressive residue flow1770NT CCS: The Easy-Riding performance planter.

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).

Thermal Structures is a completely captive manufacturing operation with facilities in California and New Mexico totaling over 140,000 sq.ft. The main plant in Corona, west of Los Angeles, has been specifically designed for a wide range of materials and product lines.The facility in New Mexico specializes in the fabrication of thermal insulation, sound insulation and decorative laminate interior products for mass transit uses. The company also operates an FAA-approved repair station for overhaul or repair of insulation blankets and shields, as well as composite engine components for the aerospace markets.