Real-time Control System Software

The Real-time Control System (RCS) is a software system developed by NIST that implements a generic Hierarchical control system.

Introduction

RCS has been used in automated manufacturing, robotics, and automated vehicle research at NIST. The software consists of a C++ library and GUI and configuration tools written a variety of software languages.

RCS applications

• Robocrane - RCS controlled a crate having six degrees of freedom. It incorporated tactile, proximity and vision sensors.
• Next Generation Inspection System - RCS controlled a Coordinate Measuring Machine, with sensors including analog touch probes, video camera, and laser range-finder.
• Intelligent Autonomous Vehicles - RCS controlled a group of autonomous vehicles, at a high level coordinating their movements, and a low level controlling their steering, throttle and brakes. Sensors included an Inertial navigation system and differential GPS.

External links

• RCS Overview
• RCS software library

References

• Albus, J. S. 4-D/RCS reference model architecture for unmanned ground vehicles. In G Gerhart, R Gunderson, and C Shoemaker, editors, Proceedings of the SPIE AeroSense Session on Unmanned Ground Vehicle Technology, volume 3693, pages 11--20, Orlando,
• Gazi, V., Moore, M. L., Passino, K. M., Shackleford, W. P., Proctor, F. M., Albus, J. S., The RCS Handbook, Tools for Real-Time Control Systems Software Development, John Wiley and Sons, New York, 2001.