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Research is described which is leading Lo the specification and development of a motion simulation and design environment for modular robotic systems which enables the implementation of widely applicable software processes for machine control. Current investigation is focused on defining models of application tasks in modular robotic systems. This work is based on the Real-time Control System (RCS) reference architecture proposed by researchers at the National Institute of Standards anddoi:10.11113/jt.v24.1084 fatcat:d7z6jorauja65ocmz6fxrnftfm