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Based on the outline for a theory of intelligence, and using NIST's hierarchical real-time control system (RCS) architecture, in Phase I, we developed proof-of-concept OpenSim and OpenAnimation toolboxes consisting of the following innovations, namely, (i) Simulation and Animation Software Design that will seamlessly interface with RCS Hierarchy, (ii) Knowledge hierarchy consistent with the four key paradigms and four key elements of the theory of intelligence, (iii) Identification of an extensive collection of simulation models and algorithms that will lead to implementation level software for the knowledge hierarchy, (iv) Real-time Simulation that reduces computational load through efficient numerical algorithms, intelligent dynamic modeling, and real time planning, and (v) Structured Approach to GUI and Animation Development. Unlike existing software tools that cover one or two aspects of intelligent systems design and implementation, OpenSim & OpenAnimiation toolboxes provide a unified environment for design and rendering of intelligent systems with features that allow seamless transition from non real-time simulation to real-time simulation and subsequent hardware testing using industry standard mechatronics hardware. In Phase II we will develop detailed software that incorporate the innovations described above leading the commercial OpenSim and OpenAnimation toolboxes.