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The big difference is that the Servlet-3.0 implementation as well as the Comet one is JBoss specific.
Additionally JBoss Web 3 is a reduced web profile of AS6.
The Service, Engine, Host, Context, Manager have not changed a lot so probably your Tomcat 6 code could be ported easily.
SIP Servlets spec is still based on Servlet 2.5 but I intend to start extending the current Spec to have it benefit from 3.0, so I'll check if that could become a maintenance headache to support both.