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Jeff/KTR: Prevent rust and make sure fasteners are tightened to the specified torques after a minimum operation time. Replace the device if it starts to slip. Reconfirm the selection, and be sure to check the dimensions and surface finish of the bore and shafts.Doug/Zero-Max: Keep the connection screws properly torqued for maximum holding forces, and use a connection with a minimum number of adjusting screws.Jim/Stafford: Replace socket screws when sockets become worn. Don''t use wrenches with rounded corners. Don''t use a screwdriver to spread collars, or a hammer to move them along a shaft.Keith/U.S. Tsubaki: Higher quality locking devices are practically maintenance-free. There is no need to periodically retighten locking bolts or replace the unit, even in high-vibration applications. End users can extend service life even longer by keeping exposed surfaces clean and corrosion free.

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).

You''ll need a properly sized, wheeled, perhaps engine-powered machine to do the heavy hauling. The capacity you''ll need and the amount you''ll pay will be determined by the size and topography of your place, the nature of the work you intend to carry out, your financial resources, maintenance tools and skills, and available storage facilities. Ideal, albeit impractical for most of us, would be a team of horses, mules or craftsman oxen along with a hay wagon for field work, a buckboard for trips to town, and a barn and paddock. If you obtain beasts of burden, you''ll also need pasture, hay and grain to sustain them.