JAUS to EtherCAT Bridge: Toward Real-Time and Deterministic Joint Architecture for Unmanned Systems

<table>JAUS hierarchy and Compliance Level. S: system, subs: subsystem, N: node, C: component.</table>

Journal of Control Science and Engineering

Figure 5: JAUS to EtherCAT Bridge: Toward Real-Time and Deterministic Joint Architecture for Unmanned Systems 