"The following is a non-exhaustive list of some of the advantageous features provided by ROS 602 in the preferred embodiment: [0559] Standardized Interface Provides Coherent Set of Basic Functions [0560] simplifies programming [0561] the same application can run on many different platforms [0562] Event Driven [0563] eases functional decomposition [0564] extendible [0565] accommodates state transiti" . . . .