The Shuttle Remote Manipulator System (SRMS) is the Space Shuttle's robotic arm. It is used for a varitety of tasks, including payload deployment and retrieval, Extravehicular Activity (EVA) assistance, mating payloads, and surveying the payload bay. The Space Shuttle Columbia seconds after engine ignition, 1981 (NASA). ...
The SRMS is located on the port longeron of the Space Shuttle's payload bay and is capable of maneuvering over 65,000 pounds. The SRMS has six joints in addition to the unit used to capture and release payloads, called the End Effector. The two booms connecting these joints contribute to a total arm length of 50 feet 3 inches.
SRM header contains the type of message, identity of the sender, the sequence number of the message, the round for which this message is being sent.Each data unit in SRM is identified as < sender’s id, message sequence number >.
The SRM agent does not generate its own data; it does not also keep track of the data sent except to record the sequence numbers of messages received in the event that it has to do error recovery.
SRM agents detect loss when they receive a message, and infer the loss based on the sequence number on the message received.
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