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Algorithms, procedures, and data embedded within this architecture would enable the analysis of situations, the formulation of plans, the choice of behaviors, and the computation of uncertainties. The computational power to implement the model can be achieved in practical systems in the foreseeable future through hierarchical and parallel distribution of computational tasks.   The authors' reference model architecture is expressed in terms of the Real-time Control System (RCS) that has been developed primarily at the National Institute of Standards and Technology. 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