Abstract: A method and apparatus for determining a gap count for a serial bus network is described. A round-trip delay time for transmitting a packet from a first leaf node to a second leaf node and back over a communication path between the nodes for each pair of leaf nodes in the network is determined. A maximum round-trip delay time for each communication path is calculated. A node latency delay time for each leaf node in the network is determined. A longest maximum round-trip delay time and a longest node latency delay time is selected for the network, and a gap count is calculated using the selected times.

Abstract: A firefighting vehicle can be transported to a fire, connected to a water supply hose, and maneuvered by remote or self-contained control to dispense water from the supply hose through a nozzle and onto the fire. The apparatus may be driven by a pair of independent, continuous tracks, and may include a video monitor to transmit real-time images to the operator to view the fire and control the apparatus. The nozzle and monitor may be mounted in a vertically rotatable turret portion, enabling water discharge from ground level to past vertical.