One important thing is to ensure that the system stays under control before it reaches a critical point that is dangerous for the fish. The deadline to reach the tipping point is tC, while the time needed to get the information and activate the actuator is ti, and the deadline for information to the user is tj.A model is needed to determine the probability value to reach that critical point. The smaller the probability is, the better the system. So that the system does not reach a critical point that is dangerous for fish, it is necessary to ensure that τt,4 > τt,3 or tC > ti and that τt,4 > τt,u or tc > tj.