Figure 1: An RCS Node
Figure 2: RCS Control Levels Based on the Principle of Multiple Levels of Resolutions
Figure 3: RCS Development Process
Figure 4: Mapping Behavior on Hierarchy
Figure 5: Functional Layout of RCS Process templates
Figure 6: Process templates May Cover Different Functional Scopes of RCS Node
Figure 7: An Base Class Independent Process Generic process template
Figure 8: Templates Inherit Common RCS Characteristics
Figure 9: Applying Templates to System Architectural Implementation
Figure 10: A Software Structure for Analysis and Implementation
Figure 11: Submarine Hydrodynamic Control Mechanisms
Figure 12: Task Analysis Diagram
Figure 13 Environmental Simulation Operator Interface
Figure 14: Submarine Automation RCS Control Hierarchy
Figure 15 : Submarine Automation Task Tree for Casualty Scenari
Figure 16 : Submarine Automation Task Tree for Maneuvering and Iceberg Avoidance Scenario
Figure 17: A Mission Plan for the Command Controller
Figure 18: The Helm Control Plan
Figure 19: Resulting Path Control in Simulated Environment
Figure 20: Comprehensive Software Structure
Figure 21: Finite State Machine Based Process template
Figure 22: The simulation hierarchy
Figure 23: Actuator Simulator Template
Figure 24: The ship system simulator process template
Figure 25: Mapping Control Activities to Operating Environment to Facilitate Operator Interaction
Figure 26: The Officer of the Deck Watchstation Display
Figure 27: The Engineering Oficer of the Watch Watchstation Dispay
Figure 28: The Ballast Control Panel Watchstation Display
Figure 29: Different degrees of operator involvment
Figure 30: Request for Operator Action
Figure 31: Hierarchical Situation Evaluation
Figure 32: Knowledge processing
Figure 33: Overview Display for Animation and Operator Interface
Figure 34: NAMT CIM testbed
Figure 35: RCS Based Manufacturing Workstation Example
Figure 36: Time-Line Based RCS Hierarchy Internal Execution Model
Figure 37: Internal Functional Flow of Executor Template
Figure 38: Internal Functional Flow of Planner Template
Figure 39 : Inspection Behavior Analysis
Figure 40: Mapping Behavior on RCS Modules
Figure 41: Inspection Workstation
Figure 42: Internal functionality of the Implemented Control Nodes
Figure 43: ISAM Testbed Current Hardware Configuration
Figure 44: Military Unmanned Vehicle Control Hierarchy