diverse software modules of any large robot system.
an Underwater Robotics Vehicle (URV).
electromechanical part and the environment.
generation of control signals for the lower layers.
there are modules that only consume data (e.g.
feedback information obtained from the sensors).
(targets) might work with different repetition times.
sources and targets to exchange the data directly.
supervised by a real time operating system QNX .
stored in the internal buffer assigned to the target.
The switch runs three kinds of processes (fig.2).
is handled by the sockets of the UDP/IP protocol.
rather limited by the throughput of the network.
protocol, so no data is lost.
using a joystick (source of commands).
based on the graphical programming language G .
chosen for presenting the 3D real-time simulation.
commands for the URV much like a normal joystick.
commands from the virtual environment computer.
a realistic representation of the actual conditions.
sensor systems onboard the URV.
module provides the feedback data.
tailored to the number of targets is produced.
on a URV controller/simulator system.
 Hunt C.: TCP/IP Network Administration.
Architecture. QNX Software Systems Ltd.
Oxford University Press, New York, 1995.