

![0_image_0.png](0_image_0.png)

```
Miller, & Sla
              k, 1997) has been implemented to solve human-ma
                                                                     hine intera
                                                                                 tion problems experien
        ed in a number of NASA pro je
                                    ts (Brann, Thurman, & Mit
                                                              hell, 1996). The
                                                                            

experien
        es showed that intera
                           tion with the system was required all the way from the
                                                                            

deliberative layer through to detailed 
                                        ontrol of a
                                                    tuators. The AA 
                                                                        ontrols at all layers
                                                                                             

are en
       apsulated in what is referred to as the 3T's fourth layer { the intera
                                                                               tion layer
                                                                                         

```
