Coal extraction using RCS

The application of the real time control system (RCS) reference model to a simulated underground coal mining machine is described. RCS is characterized by explicit software modules that perform task decomposition, sensory processing, and world modeling functions at different hierarchical levels. A detailed and sharply defined approach to RCS design characterized by task-oriented problem analysis, generic software 'objects', rule-based control (using finite state machines), cyclic execution of manually scheduled processes, and generic communications interfaces.<
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