Control 67 22.1 Introduction 67 22.2 A Quick Look at Action Selection 68 22.3 Psi in C,ogPrime 69 22.4 Implementing Emotion Rules atop Psi's Emotional Dynamics 72 22.4.1 Grounding the Logical Structure of Emotions in the Psi Model 73 22.5 Goals and Contexts 73 22.5.1 Goal Atoms 74 22.6 Context