A submarine maneuvering system demonstration based on the NIST real-time control system reference model

The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has developed a generic reference model architecture, known as the Real-time Control System (RCS). The application of RCS to the automation of submarine operations is demonstrated which requires that an enormous amount of intelligence be built into its control system. A summary of the reference model is given, followed by a description of the implementation process. The long term goal is to establish a generic development methodology for intelligent control systems