Robots and embedded control systems are traditionally programmed to perform automated tasks, yet accomplishing complicated and dynamically changing tasks will typically require the use of specialized computational resources and software systems. In order to design these sophisticated control systems the use of computational modeling and simulation techniques is necessary to ensure that final implementations of the system perform optimally. Since even the simplest robotic control systems are intrinsically a mixture of heterogeneous sub-systems, each focusing on a particular task, we need a means of modeling the different aspects of the system accurately and intuitively.....