[FIGURES 4 & 6 OMITTED]Next, the sequencer procedures for the subsystem (RAPS) were installed on the Al workstation and tested with the validated skills. An example of the resulting RAPs is shown in figure 7. There are several methods associated with the processing-start RAP, each indexed by a context clause. The method shown is valid when the required reverse-osmosis stage is purged, and the pps-select valve is open to the postprocessing systems (PPSs). In this case, the RAP starts the reverse-osmosis main feed pump, stops the recirculation pump, and turns the pps-select valve to reject (relieving downstream pressure). Then, the RAP turns the reverse-osmosis process valve to the purge position and turns the pps-select valve to the tank position.

In order to go from one mode to another, the machine must come to a full stop. "If an operator flips the switch while he''s working, he will stay in the same mode until he comes to a stop," said Osborn. "Before he can actually go into the other mode, he has to push the "press to operate button." There is also an indicator light on the switch so he can look up and have a visual display of which mode he''s in." The position sensors were provided by Torrington, a sister IR company, with all wire harnesses coming from Fargo Assembly and the steering mode switch is from Eaton. "Torrington worked very closely with Jason and our team," said Krause. "These are not off-the-shelf sensors. We told them what the sensors had to do, gave them the area they had to fit in and the conditions they had to live under. The wheel angle sensors and the wheel speed sensors were developed from scratch as a joint effort between Bobcat and Torrington."

Though light in weight, Airbor magnetic drill has a powerful 1.6-hp air motor and 1,600-lb magnetic holding strength. With its extra rack, stroke length is extended to 10 1/4 in. Annular cutter capacity is up to 2 1/16 in. diam. Geared chuck adapter converts the unit to a standard drill press. The Slugger Air Force pneumatic drill, at 24 lbs, 6 1/4" high, is useful for confined area drilling. The drill''s features include a permanent magnet that turns on or off by air power, a cutter capacity of up to 1 1/16" diameter x 3/4" depth and the ability to use ShortSlugger cutters and frame cutters. These cutters'' geometry allows the operator to drill multi-layered truck frames in a single pass.

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