diff --git a/Notes on Papers/An autonomous control framework for advanced reactors.md b/Notes on Papers/An autonomous control framework for advanced reactors.md
index 068eb5a9..df29a7e7 100644
--- a/Notes on Papers/An autonomous control framework for advanced reactors.md	
+++ b/Notes on Papers/An autonomous control framework for advanced reactors.md	
@@ -34,9 +34,14 @@ necessary are all decisions that an autonomous system would make, that
 a simple automated system could not. The key is in the decision making.
 
 **What is the supporting evidence?**
-Dr. Wood compares a lot to NASA control systems for the Mars rovers.
+Dr. Wood compares a lot to NASA control systems for the Mars rovers. These
+systems use two tiers of controllers: a decision layer and a functionality layer. 
+The functionality layer does what you think--it manages the physical 
+functioning. The decision layer is different. It decides on controller modes and 
+works instead with operational level goals.
 
 **What are the key findings?**
+The biggest findings are that an autonomous control system for a nuclear power plant 
 
 # Third Pass
 **Recreation Notes:**