These components are the Communicator, Node Manager, Primitive Driver, and Position

System. Libraries for each component were coded following the specifications found in

the JAUS Reference Architecture.



 Node A Node B

 Component A Component B



 Node Manager Node Manager



 Communicator) Ethernet Communicator

Figure 2-4: Communicator-Node Manager component interaction

 Two JAUS components are directly responsible for all inter-component

communications: the Communicator and the Node Manager. As such, all nodes must

support both a Communicator and a Node Manager component. The Communicator

allows for a single point of message entry into a subsystem while maintaining the data

link between the subsystems. The Andros Communicator uses a User Datagram Protocol

(UDP) Ethernet connection for all communications. The Node Manager component

controls the routing of JAUS messages from one node to another. As depicted in Figure

2-4, a JAUS message is spawned within a component and then sent to the Node Manager,

where the information pertaining to the destination component and destination node are

attached to the message. This fully defined JAUS message is now passed on to the

communicator, which handles the transmission of the message to the proper node [10].