The Joint Architecture for Unmanned Systems (JAUS) is a communication standard that allows for interoperability between\nUnmanned Vehicles (UVs). Current research indicates that JAUS-compliant systems do not meet real-time performance guidelines\nnecessary for internal systems in UVs. However, there is a lack of quantitative data illustrating the performance shortcomings of\nJAUS or clear explanations on what causes these performance issues or comparisons with existing internal communication systems.\nIn this research, we first develop a basic C++ implementation of JAUS and evaluate its performance with quantitative data and\ncompare the results with published performance data of Controller Area Network (CAN) to determine the feasibility of the JAUS\nstandard. Our results indicate that the main reason of JAUS�s poor performance lies in the latency inherent in the hierarchical\nstructure of JAUS and the overhead of User DatagramProtocol (UDP) messages, which has been used with JAUS and is slower than\nthe high-speed CAN. Additionally, UDP has no schedulingmechanism, whichmakes it virtually impossible to guarantee messages\nmeeting their deadlines. Considering the slow and nondeterministic JAUS communication fromsubsystems to components, which\nis JAUS Level 3 compliance, we then propose a solution by bringing Ethernet for Control Automation Technology (EtherCAT) to\nadd speed, deterministic feature, and security. The JAUS-EtherCAT mapping, which we called a JEBridge, is implemented into\nnodes and components. Both quantitative and qualitative results are provided to show that JEBridge and JAUS Level 3 compliance\ncan bring not only interoperability but also reasonable performance to UVs.
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