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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, consumerreportchainsawbuy 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).

The newest additions to Honda''s GC engines series are the 6-hp., horizontal-shaft GC190 (pictured) and 6.5-hp., vertical-shaft GCV190 models. These higher hp. engines are designed specifically for premium, high-volume, residential power equipment and are now available through Honda Engine distributors nationwide. Both shaft configurations also are supplied to other power equipment manufacturers on an original equipment basis. As with other overhead cam (OHC) engines in the GC series, a combination of the world''s first internal timing belt and uniblock construction creates a lighter and more compact package than any other model in the class, delivering an unparalleled power-to-weight ratio. Simple construction also minimizes the number of moving parts, making the engines reliable and easy to operate. The internal components have been strengthened through the use of a stronger piston pin, larger connecting rod, larger rod journal and redesigned oil control ring. The GC190 and GCV190 engines meet or exceed all 2006 CARB and EPA emission requirements. After successfully launching its vertical-shaft, liquid-cooled Aegis engines at EXPO 99, Kohler introduced horizontal-shaft counterparts at EXPO 2000. Kobler will produce 3 models rated at 17-, 20-, and 23-hp. with full production on the 23-hp. consumerreportchainsawbuy model starting in spring 2001. With the addition of Kohler Aegis in both vertical- and horizontal-shaft configurations, Kohler can now provide OEMs and end users with a full range of 4-stroke, twin-cylinder engines from 17 to 26 hp. Honda Engines has added two new higher horsepower models to its GC consumerreportchainsawbuy series of four-stroke gasoline engines. The 6 hp GC19O and the vertical shaft 6.5 hp GC Vi 90 engines are designed specifically for premium residential power equipment applications. The two new engines join Honda Engine''s 4 hp GC135/GCV135 and the 5 hp GC160/GCV160 engines in the product range.

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