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Figure 5. Excepts from the Revere-Osmosis Skill Specification.Skills--for the RO agentName ROType deviceParams intervalOuts noneFunction: A device skill that gets all the sensor values andprovides them to the other skills. Also sends commands to the pumpsand valves. Also every interval seconds, this skill broadcasts a datamessage with the values of all the channels listed above to the IPCserver so that clients (e.g., a logging facility) can access them (seethe IPC structure at the end of this document). These systems generally consist of a GIS/GPS-based vehicle tracking system and the associated mapping display software. GIS, or Geographic Information System, provides the mapping component. With the tracker devices installed in vehicles, dispatchers can follow a vehicle''s location in real-time. When an incident occurs, controllers can quickly dispatch the vehicle nearest to the incident.In the El Paso Fire Department, for instance, the GPS-powered automatic vehicle locator system tracks the location of the department''s apparatus fleet. This system consists of a radio and a GPS receiver/transceiver affixed to each fire apparatus. A signal from the GPS unit is transmitted to a satellite, the signal bounces back to earth, and the radio system tells the computer system exactly where that unit is on a map to within one meter of accuracy. Controlling the Integrated Water-Recovery SystemIn this section, we describe the control italianscooter tasks for the final IWRS system that went into test in 2001, first by subsystem and then for the IWRS as a whole (figure 8).The Biological Water ProcessorFeed water from the waste-water collection system (figure 3) first passes through the BWP. The main control task for the BWP is to keep the water in the gas-liquid-separator (GLS) (see the lozenge icon with the three-level switches in the upper left of figure 8) at mid-level, which is accomplished by varying the speed of the feed pump, and the draw from the reverse-osmosis main pump remains constant. The other requirement is to monitor the pressures in the recycle loop, as well as in the nitrifier tubes, and carry out automatic shutdown procedures in the case of off-nominal values. For example, if one of the nitrifier tubes shows too high a pressure, the water and air pumps associated with this tube are shut down, and a warning is issued.
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