A submarine simulator driven by a hierarchical real-time control system architecture

摘要

The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has been developing a generic reference model architecture for intelligent control, known as the Real-time Control System (RCS), for the last two decades.Much of the previous work has been in the of area industrial robots and autonomous vehicles, which led to the understanding that simulation and animation are an integral part of control system design.This paper illustrates the use of simulation and animation in an RCS design for submarine automation.The automation of submarine operations involves complex system functionalities and requires an enormous amount of intelligence to be built into the software to enable a submarine to oper- ate in an unstructured and often hostile environment semi-autonomously.Visualization provides the designer immediate feedback of his or her design.This paper describes an example of fusing simulation and animation with RCS.1.