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Dubai, the commercial capital of the U.A.E., sees plenty of business travelers. More and more of them are taking advantage of the city''s first-class golf courses--both during the day and at night.Serious players will be impressed variabelhydraulicpump with the courses at Dubai Creek Golf and Yacht Club and the Emirates Golf Club. Both courses are government-owned and beautifully maintained. They''re surprisingly lush, given the desert environment from which they were created.The Emirates Golf Club is the older of the two clubs. For many years, it hosted a European PGA Tour event called the Dubai Desert Classic. (The tournament, which takes variabelhydraulicpump place in variabelhydraulicpump March, is now held at the Dubai Creek Golf Club.) 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 variabelhydraulicpump 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 variabelhydraulicpump written in Lisp) variabelhydraulicpump (1) variabelhydraulicpump using virtual skills, that is, Lisp skills connected to a Lisp simulation of the variabelhydraulicpump expected hardware. A virtual simulation of, say, the reverse-osmosis subsystem could then be shown on a laptop to the WRS engineers variabelhydraulicpump and the control design refined in an iterative process even before the actual hardware was available. The primary result variabelhydraulicpump of this process was a set of skill specifications for each subsystem (figure 5).
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