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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 power 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 tools 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 auction 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).

Broz recommends farmers contact their state''s DNR for guidelines on land spreading of petroleum-contaminated soils. The depth they have to excavate varies by the size of the spill and the soil type, but it''s generally power only a few feet. In high-traffic areas, or where soils have a high clay content, less excavation may be required."Farmers need to be proactive with environmental protection," adds Broz. "They should do a Farm-A-Syst analysis, clean up existing problems, and take action needed to prevent future ones. Then show the results to their banker and insurance agent. In some cases, this has helped farmers qualify for reduced rates."

* Transfer Pumps -- The majority of transfer pumps are of the diaphragm type that provide a maximum of 8 psi to the main pump. The diaphragm pump is simple in nature and usually trouble-free. However, the check valves may become sticky if the diesel fuel gets too old. Fungus and bacteria can gum up the valves and reduce both flow and pressure. Also, diaphragms can rupture, and fuel can leak into the engine oil. This can be detected during daily service checks. On an engine that consumes oil, oil consumption would appear to stop and the oil level might even rise on the dipstick.