This paper describes the results obtained in the final performing period of the ARPA sponsored submarine automation project^Efforts on the mapping between the submarine operational environment and the RCS software architecture lead to the result of three watch station graphic user interface panels. The submarine automation model has been expanded to include some engineering systems control capability. On the RCS generic structure, authors have explored methods to reuse existing plans for new task requirements. The authors have also illustrated a main feature in RCS, namely, a smooth transition of level of authority in commands from the higher to the lower control levels.' ARPA Order No. 7829, Amendment No. 02.
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