Research Article
JAUS to EtherCAT Bridge: Toward Real-Time and Deterministic Joint Architecture for Unmanned Systems
Table 1
CAN performance results [
9].
| | Signal number | Size/bytes | /ms | /ms | /ms | (125 Kbit/s) | (250 Kbit/s) | (500 Kbit/s) | (1 Mbit/s) |
| | 14 | 1 | 0.1 | 50.0 | 5.0 | 1.544 | 0.772 | 0.386 | 0.193 | | 9 | 1 | 0.2 | 5.0 | 5.0 | 2.048 | 1.024 | 0.512 | 0.256 | | 49 | 1 | 0.2 | 5.0 | 5.0 | 2.552 | 1.276 | 0.638 | 0.319 | | 42 | 1 | 0.2 | 5.0 | 5.0 | 3.056 | 1.528 | 0.764 | 0.382 | | 8 | 1 | 0.1 | 5.0 | 5.0 | 3.560 | 1.780 | 0.890 | 0.445 | | 7 | 1 | 0.1 | 5.0 | 5.0 | 4.064 | 2.032 | 1.016 | 0.508 | | 43 | 1 | 0.1 | 5.0 | 5.0 | 4.568 | 2.284 | 1.142 | 0.571 | | 11 | 1 | 0.1 | 5.0 | 5.0 |
x 5.072 | 2.536 | 1.268 | 0.634 | | 32 | 1 | 0.1 | 5.0 | 5.0 | x — | 2.788 | 1.394 | 0.697 | | 29 | 1 | 0.3 | 10.0 | 10.0 | x 10.112 | 3.040 | 1.520 | 0.760 | | 30 | 1 | 0.4 | 10.0 | 10.0 | x — | 3.292 | 1.646 | 0.823 | | 53 | 1 | 1.5 | 50.0 | 20.0 | x 25.232 | 3.544 | 1.772 | 0.886 | | 48 | 1 | 1.4 | 50.0 | 20.0 | x 29.768 | 3.796 | 1.898 | 0.949 | | 46 | 1 | 1.3 | 50.0 | 20.0 | x 39.344 | 4.048 | 2.024 | 1.012 | | 44 | 1 | 1.2 | 50.0 | 20.0 | x 39.848 | 4.300 | 2.150 | 1.075 | | 40 | 1 | 1.1 | 50.0 | 20.0 | x — | 4.552 | 2.276 | 1.138 | | 39 | 1 | 1.0 | 50.0 | 20.0 | x — | 4.804 | 2.402 | 1.201 | | 27 | 1 | 0.9 | 50.0 | 20.0 | x — | 7.072 | 2.528 | 1.264 | | 38 | 1 | 0.9 | 50.0 | 20.0 | x — | 7.324 | 2.654 | 1.327 | | 37 | 1 | 0.8 | 50.0 | 20.0 | x — | 7.576 | 2.780 | 1.390 | | 52 | 1 | 0.8 | 50.0 | 20.0 | x — | 7.828 | 2.906 | 1.453 | | 26 | 1 | 0.8 | 50.0 | 20.0 | x — | 8.080 | 3.032 | 1.516 | | 35 | 1 | 0.7 | 50.0 | 20.0 | x — | 8.332 | 3.158 | 1.579 | | 51 | 1 | 0.7 | 50.0 | 20.0 | x — | 8.584 | 3.284 | 1.642 | | 22 | 1 | 0.7 | 50.0 | 20.0 | x — | 8.836 | 3.410 | 1.705 | | 34 | 1 | 0.6 | 50.0 | 20.0 | x — | 9.088 | 3.536 | 1.768 | | 20 | 1 | 0.6 | 50.0 | 20.0 | x — | 9.340 | 3.662 | 1.831 | | 50 | 1 | 0.6 | 50.0 | 20.0 | x — | 9.592 | 3.788 | 1.894 | | 31 | 1 | 0.5 | 50.0 | 20.0 | x — | 9.844 | 3.914 | 1.957 | | 47 | 1 | 0.5 | 50.0 | 20.0 | x — | 12.616 | 4.040 | 2.020 | | 28 | 1 | 0.5 | 50.0 | 20.0 | x — | 12.868 | 4.166 | 2.083 | | 19 | 1 | 0.5 | 50.0 | 20.0 | x — | 13.120 | 4.292 | 2.146 | | 25 | 1 | 0.4 | 50.0 | 20.0 | x — | 13.372 | 4.418 | 2.209 | | 17 | 1 | 0.4 | 50.0 | 20.0 | x — | 13.624 | 4.544 | 2.272 | | 45 | 1 | 0.4 | 50.0 | 20.0 | x — | 13.876 | 4.670 | 2.335 | | 24 | 1 | 0.3 | 50.0 | 20.0 | x — | 14.128 | 4.796 | 2.398 | | 16 | 1 | 0.3 | 50.0 | 20.0 | x — | 14.380 | 4.922 | 2.461 | | 18 | 1 | 0.3 | 50.0 | 20.0 | x — | 14.632 | 6.056 | 2.524 | | 41 | 1 | 0.3 | 50.0 | 20.0 | x — | 14.884 | 6.182 | 2.587 | | 23 | 1 | 0.2 | 50.0 | 20.0 | x — | 17.152 | 6.308 | 2.650 | | 15 | 1 | 0.2 | 50.0 | 20.0 | x — | 17.404 | 6.434 | 2.713 | | 6 | 1 | 0.9 | 100.0 | 100.0 | x — | 17.656 | 6.560 | 2.776 | | 4 | 1 | 0.8 | 100.0 | 100.0 | x — | 17.908 | 6.686 | 2.839 | | 2 | 1 | 0.7 | 100.0 | 100.0 | x — | 18.160 | 6.812 | 2.902 | | 1 | 1 | 0.6 | 100.0 | 100.0 | x — | 18.412 | 6.938 | 2.965 | | 12 | 1 | 0.4 | 100.0 | 100.0 | x — | 18.664 | 7.064 | 3.028 | | 10 | 1 | 0.2 | 100.0 | 100.0 | x — | 18.916 | 7.190 | 3.091 | | 36 | 1 | 1.7 | 1000.0 | 1000.0 | x — | 19.168 | 7.316 | 3.154 | | 33 | 1 | 1.6 | 1000.0 | 1000.0 | x — | 19.420 | 7.442 | 3.217 | | 13 | 1 | 1.2 | 1000.0 | 1000.0 | x — | 19.672 | 7.568 | 3.280 | | 5 | 1 | 1.1 | 1000.0 | 1000.0 | x — | 22.444 | 7.694 | 3.343 | | 3 | 1 | 1.0 | 1000.0 | 1000.0 | x — | 22.696 | 7.820 | 3.406 | | 21 | 1 | 0.3 | 1000.0 | 1000.0 | x — | 22.948 | 7.946 | 3.469 |
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