\begin{figure}[!t]
\scriptsize
\begin{center}
\begin{tabular}{r|r|r|r|r}
& & cost &\\
$p$=phase & task id & (allocated budget)&frequency&frequency*cost\\\hline
2. concept&            2.1&         1.53&71&109\\
    &        2.2&         1.28&50&63\\
     &       2.3&         1.67& 54&90\\
      &      2.4&         0.86&13&11\\
&            2.5&         0.15&13&2\\
 &           2.6&         0.36&13&5\\\cline{4-5}
 &              &             &  sub-total&$\alpha_2=281$\\\hline
3. requirements&            3.1&         1.46&90&131\\
&            3.2&         3.89&54&210\\
 &           3.3&         1.6&53&85\\
  &          3.4&         1.62&50&81\\
   &         3.5&         0.77&5&4\\
    &        3.6&         0.00&0&0\\\cline{4-5}
 &              &             & sub-total&$\alpha_3=512$\\\hline
         4.  design& 4.1&         2.71&81&220\\
   &         4.2&         4.31&31&134\\
    &        4.3&         2.50&9&23\\
     &       4.4&         2.84&88&250\\
      &      4.5&         1.43&5&7\\
       &     4.6&         0.63&35&22\\
        &    4.7&         0.00&0&0\\\cline{4-5}
 &              &             &  sub-total&$\alpha_4=655$\\\hline
5. implement&            5.1&         3.49&81&283\\
&            5.2&        0&53&0\\
 &           5.3&         10.28&53&545\\
  &          5.4&         5.06&26&132\\
   &         5.5&         1.16&26&30\\
&            5.6&         2.34&0&0\\
 &           5.7&         0&5&0\\
  &          5.8&         1.33&0&0\\
   &         5.9&         0&5&0\\
        &    5.10&         3.8&81&313\\
   &        5.11&         1.82&3&5\\\cline{4-5}
 &              &             & sub-total&$\alpha_5=1314$\\\hline

6. test&            6.1&         2.30&88&202\\
      &      6.2&         3.09&0&0\\
       &     6.3&        20.93&3&63\\
        &    6.4&         2.08&26&54\\
         &   6.5&         3.20&26&83\\\cline{4-5}
 &              &             & sub-total&$\alpha_6=402$\\\hline
\end{tabular}
\end{center}
\caption{Costs and and frequency of \fig{silapModel} tasks.
Zero cells denote ``no data available''. }\label{fig:allocated}
\end{figure}
\begin{figure*}
\scriptsize
\begin{center}
\begin{tabular}{r|r|r@{~}l|r@{~}l}
\multicolumn{2}{c}{~}&\multicolumn{4}{c}{$F_S$ = number of issues found of severity $S$}\\\cline{3-6}
phase& $S$ = severity& \multicolumn{2}{l}{9 robotic missions}& \multicolumn{2}{|l}{7 man-rated missions
}\\\hline
      2.  concept&                        1&           0&                  & 59& \rule{3mm}{2mm}\\
             &                        2&           7&   & 81&\rule{8mm}{2mm}\\
             &                        3&          54&   \rule{3mm}{2mm}&  168& \rule{9mm}{2mm}\\
             &                        4&          11&   & 0&\\
             &                        5&           2&                  & 0&\\\cline{3-3}\cline{5-5}
             &                     $\beta_2=\sum_{S=1}^5 F_S\cdot 10^{5-S}$    & 12,521           &                  &687,800  & \\\hline
 3. requirements&                        1&           1&                  &  291&\rule{15mm}{2mm}\\
             &                        2&          70&   \rule{4mm}{2mm}&  313&\rule{16mm}{2mm}\\
             &                        3&         874&  \rule{44mm}{2mm}&  430&\rule{21mm}{2mm}\\
             &                        4&         435&  \rule{21mm}{2mm}& 0&\\
             &                        5&         133&  \rule{7mm}{2mm}& 0&\\\cline{3-3}\cline{5-5}
             &                     $\beta_3=\sum_{S=1}^5 F_S\cdot 10^{5-S}$    & 171,883           &                  & 3,266,000 & \\\hline
    4.   design&                        1&           0&                  & 11&\\
             &                        2&          18&   \rule{1mm}{2mm}& 16&\rule{1mm}{2mm}\\
             &                        3&         275&  \rule{13mm}{2mm}& 96&\rule{5mm}{2mm}\\
             &                        4&         129&  \rule{7mm}{2mm}& 0&\\
             &                        5&          25&   \rule{2mm}{2mm}& 0&\\\cline{3-3}\cline{5-5}
             &                     $\beta_4=\sum_{S=1}^5 F_S\cdot 10^{5-S}$    & 46,815           &                  & 135,600 & \\\hline
  5.  implement&                        1&           1&                  & 51&\rule{3mm}{2mm}\\
             &                        2&         59 &   \rule{3mm}{2mm}& 78&\rule{4mm}{2mm}\\
             &                        3&         364&  \rule{18mm}{2mm}& 333&\rule{16mm}{2mm}\\
             &                        4&         282&  \rule{24mm}{2mm}& 0& \\
             &                        5&          76&   \rule{4mm}{2mm}& 0 &\\\cline{3-3}\cline{5-5}
             &                     $\beta_5=\sum_{S=1}^5 F_S \cdot 10^{5-S}$    & 108,296           &                  & 621,300 & \\\hline
   6.      test&                        1&           1&                  & 15 &\rule{1mm}{2mm}\\
             &                        2&          10&   & 27 &\rule{3mm}{2mm}\\
             &                        3&         361&  \rule{18mm}{2mm}& 77 &\rule{4mm}{2mm}\\
             &                        4&         271&  \rule{14mm}{2mm}& 0 &\\
             &                        5&          41&   \rule{2mm}{2mm}& 0 & \\\cline{3-3}\cline{5-5}
             &                     $\beta_6=\sum_{S=1}^5 F_S \cdot 10^{5-S}$    & 58,851           &                  &184,700  & \\\hline
\end{tabular}
\end{center}
\caption{A sample of found issues.}\label{fig:issues}
\end{figure*}

\begin{figure*}
\begin{center}
\scriptsize
\begin{tabular}{r@{~}l|r@{~}l|r@{~}l|r@{~}l|r@{~}l}
 &              & \multicolumn{8}{c}{$\frac{issues'}{cost*frequency} = \frac{\beta_p
\cdot  \Delta^{(6-p)}}{\alpha_p}$ }\\\cline{3-10}
&               & \multicolumn{4}{c|}{robotic} & \multicolumn{4}{c}{manned}\\\hline
$p =$&phase       &    $\Delta=2$ & &$\Delta=5$  & &$\Delta=2$ & &$\Delta=5$&\\\hline
2&concept            &  713 (18\%) &\rule{4mm}{2mm}    & 445,879 (56\%) & \rule{14mm}{2mm}  & 39,216 (42\%)& \rule{10mm}{2mm}&24,510,014 (79\%) &\rule{20mm}{2mm} \\
3&requirements       &  2,688  (67\%)&\rule{17mm}{2mm}  & 335,945  (43\%)& \rule{10mm}{2mm} & 51,067 (55\%)& \rule{14mm}{2mm}& 6,383,395  (21\%) &\rule{5mm}{2mm} \\
4&design             &  286  ~(7\%)  & \rule{2mm}{2mm} &7,150 ~(1\%) & & 828 ~(1\%)& &20,711  ~(0\%)&\\
5&implement          &  165  ~(4\%)  &\rule{1mm}{2mm} & 824  ~(0\%) && 950 ~(1\%)& &4,752 ~(0\%) &\\
6&test               & 146   ~(4\%)   & \rule{1mm}{2mm}&  146 ~(0\%) && 459   ~(0\%)& &459 ~(0\%) &  \\\hline
 &    totals          & $\sum=3,998$     && $\sum=789,936$    &  &   $\sum=92,521$ && $\sum=29,919,339$   &
\end{tabular}
\end{center}
\caption{Hueristic assessment of the relative merits of IV\&V tasks at different phases.
The values of $\alpha_p$ and $beta_p$ come from \fig{allocated}
and \fig{issues}. 
}\label{fig:phase}
\end{figure*}

%\begin{figure*}
%\scriptsize
%\begin{center}
%\begin{tabular}{r|r|r|r@{\%~}l|r|l}
%type & $\Delta$ & rank     & \multicolumn{2}{l|}{normalized 
%$\left(\frac{Issues\cdot 10^{(5-Severity)} \cdot \Delta^{(6-Phase)}}{Costs \cdot Frequency}\right)$ } &Task id & Task\\\hline
%robot&5&   1   &    52& \rule{52mm}{2mm}& 2.5& SW/User Requirements Allocation Analysis\\ 
% &&    2   &    22& \rule{22mm}{2mm}& 2.6&                    Traceability Analysis\\ 
%  &&   3   &     9&  \rule{9mm}{2mm}& 2.4&              Concept Document Evaluation\\ 
%   &&  4   &     4&  \rule{4mm}{2mm}& 3.4&                System Test Plan Analysis\\ 
% &&    5   &     4&  \rule{4mm}{2mm}& 3.3&        Interface Analysis - Requirements\\ 
%  &&   6   &     3&  \rule{3mm}{2mm}& 3.1&    Traceability Analysis -  Requirements\\ 
%&&     7   &     2&  \rule{2mm}{2mm}& 3.2&         Software Requirements Evaluation\\ 
%&&     8   &     2&  \rule{2mm}{2mm}& 2.2&         Software Architecture Assessment\\ 
%&&     9   &     1&  \rule{1mm}{2mm}& 4.6&                        Database Analysis\\ 
%&&    10   &     1&  \rule{1mm}{2mm}& 2.3&               System Requirements Review\\ 
%&&    11   &     1&  \rule{1mm}{2mm}& 2.1&                          Reuse Analysis*\\\hline 
%
%robot&2&     1   &    39& \rule{39mm}{2mm}& 2.5& SW/User Requirements Allocation Analysis\\
%&&     2   &    16& \rule{16mm}{2mm}& 2.6&                    Traceability Analysis\\ 
%&&     3   &     8&  \rule{8mm}{2mm}& 3.4&                System Test Plan Analysis\\ 
%&&     4   &     8&  \rule{8mm}{2mm}& 3.3&        Interface Analysis - Requirements\\ 
%&&     5   &     7&  \rule{7mm}{2mm}& 2.4&              Concept Document Evaluation\\ 
%&&     6   &     5&  \rule{5mm}{2mm}& 4.6&                        Database Analysis\\ 
%&&     7   &     5&  \rule{5mm}{2mm}& 3.1&    Traceability Analysis -  Requirements\\ 
%&&     8   &     3&  \rule{3mm}{2mm}& 3.2&         Software Requirements Evaluation\\ 
%&&     9   &     2&  \rule{2mm}{2mm}& 5.4&                System Test Case Analysis\\ 
%&&    10   &     1&  \rule{1mm}{2mm}& 6.4&             System Test Results Analysis\\ 
%&&    11   &     1&  \rule{1mm}{2mm}& 5.5&               Software FQT Case Analysis\\ 
%&&    12   &     1&  \rule{1mm}{2mm}& 4.2&               Software Design Evaluation\\ 
%&&    13   &     1&  \rule{1mm}{2mm}& 2.3&               System Requirements Review\\ 
%&&    14   &     1&  \rule{1mm}{2mm}& 2.2&         Software Architecture Assessment\\ 
%&&    15   &     1&  \rule{1mm}{2mm}& 2.1&                          Reuse Analysis*\\ \hline
%
%human&5&     1   &    59& \rule{59mm}{2mm}& 2.5& SW/User Requirements Allocation Analysis\\ 
%&&     2   &    24& \rule{24mm}{2mm}& 2.6&                    Traceability Analysis\\ 
%&&     3   &    10& \rule{10mm}{2mm}& 2.4&              Concept Document Evaluation\\ 
%&&     4   &     2&  \rule{2mm}{2mm}& 2.2&         Software Architecture Assessment\\ 
%&&     5   &     1&  \rule{1mm}{2mm}& 3.4&                System Test Plan Analysis\\ 
%&&     6   &     1&  \rule{1mm}{2mm}& 3.3&        Interface Analysis - Requirements\\ 
%&&     7   &     1&  \rule{1mm}{2mm}& 2.3&               System Requirements Review\\ 
%&&     8   &     1&  \rule{1mm}{2mm}& 2.1&                          Reuse Analysis*\\\hline 
%
%
%human&2&     1   &    56& \rule{56mm}{2mm}& 2.5& SW/User Requirements Allocation Analysis\\ 
%&&     2   &    23& \rule{23mm}{2mm}& 2.6&                    Traceability Analysis\\ 
%&&     3   &    10& \rule{10mm}{2mm}& 2.4&              Concept Document Evaluation\\ 
%&&     4   &     2&  \rule{2mm}{2mm}& 3.4&                System Test Plan Analysis\\ 
%&&     5   &     2&  \rule{2mm}{2mm}& 3.3&        Interface Analysis - Requirements\\ 
%&&     6   &     2&  \rule{2mm}{2mm}& 2.2&         Software Architecture Assessment\\ 
%&&     7   &     1&  \rule{1mm}{2mm}& 5.4&                System Test Case Analysis\\ 
%&&     8   &     1&  \rule{1mm}{2mm}& 4.6&                        Database Analysis\\ 
%&&     9   &     1&  \rule{1mm}{2mm}& 3.2&         Software Requirements Evaluation\\ 
% &&   10   &     1&  \rule{1mm}{2mm}& 3.1&    Traceability Analysis -  Requirements\\ 
% &&   11   &     1&  \rule{1mm}{2mm}& 2.3&               System Requirements Review\\ 
%&&    12   &     1&  \rule{1mm}{2mm}& 2.1&                          Reuse Analysis* 
%\end{tabular}
%\end{center}
%\caption{Value of \fig{silapModel} tasks; values normalized to sum to 100.}\label{fig:value}
%\end{figure*}
