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Today, for better and for worse, our gender behaviors are knit so closely into the weave of societal expectations, our individual expectations as parents, and a child''s personal taste and biology, that none of us can pick it apart. In the 1970s, feminists were interested in giving dolls to boys in order to feed their nurturing side; as a feminist in the 1990s, I love seeing Riley nurture his front loaders -- they fall down, bump their heads, get kisses, eat, nurse, poop on the floor. I do not feel remiss for having "caved in" to the truck gene, as a friend put it the other day. Allowing Riley the room -- and the books, songs, toys, games, and encouragement -- to explore his love for construction machinery has not robbed him of the whole range of complicated emotions making up his psyche.

In the summer of 1999, we had used the bottom two layers of 3T to provide autonomous control for a single subsystem--a second-generation biological water processor--during a 450-day, 24-hour-a-day, 7-day-a week test. Then in January 2000, the Advanced Water Research Group received ALS funding for the year-long IWRS test, involving four advanced water-recovery subsystems (Bonasso 2001) (see Advanced Water Recovery System sidebar).BuildupUsing 3T allowed us to develop the control for the IWRS in a modular fashion in two ways. First, moving from bottom to top (figure 4), each electriclawnmowers layer has its own data structures, timing constraints, and development tools that allow for parallel development of the software. Thus, we were able to develop skills sets based on the evolving hardware specifications and simultaneously develop the sequencer procedures. Early on, as the water research team developed the design for each subsystem, one part of the 3T team wrote the sequencer procedures for each subsystem in the RAPS language (which, in turn, is written in Lisp) (1) using virtual skills, that is, Lisp skills connected to a Lisp simulation of the expected hardware. A virtual simulation of, say, the reverse-osmosis subsystem could then be shown on a laptop to the WRS engineers and the control design refined in an iterative process even before the actual hardware was available. The primary result of this process was a set of skill specifications for each subsystem (figure 5).