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A device for use in, and system for, a vehicle-to-vehicle (V2V) communication and safety system that uses a hybrid combination of TDMA and CSMA protocols. The synchronized TDMA frame is partitioned into three prioritized time interval classes with differing priorities and dynamically changing sizes based on demand of higher-priority messages. The TDMA portions of a repeating time interval uses self-assigned dense time slots for high-priority safety messages, with one portion for emergency vehicles and road-side units. The CSMA protocol uses remaining available time for lower-priority and overflow messages. The higher-priority time interval classes change size dynamically based on the number of current transmissions. Modulation schemes, but not data link formats, use existing Standards. Embodiments include optimized traffic flow and signal timing.

A surveying instrument (11) comprises a telescope unit having imaging optics and an array of optical detector elements, orientation sensors detecting an orientation of the telescope unit, rotation drives for rotating the telescope unit about a horizontal and a vertical axis, a controllable distance-measuring unit, and a processing unit. The processing unit comprises a memory storing instructions and calibration data for relating the location of each optical detector element to a sighting direction and a processor for: obtaining target region data; obtaining projection surface data (133) representing a projection surface (135), acquiring a set of pixel data representing a two-dimensional image of a target region, transforming the set of pixel data to a set of projected image data representing a projection of the image to the projection surface using the calibration data, and storing the projected image data as surveying data.

A data processing apparatus and method are provided for managing cache coherency. The data processing apparatus comprises a plurality of processing units, each having a cache associated therewith, and each cache having indication circuitry containing segment filtering data. The indication circuitry is responsive to an address portion of an address specified by an access request from an associated processing unit to reference the segment filtering data in order to provide, for each of at least a subset of the segments of the associated cache, an indication as to whether the data is either definitely not stored in that segment or is potentially stored in that segment. Further, in accordance with the present invention, cache coherency circuitry is provided which employs a cache coherency protocol to ensure data accessed by each processing unit is up-to-date. The cache coherency circuitry has snoop indication circuitry associated therewith whose content is derived from the segment filtering data of each indication circuitry. For certain access requests, the cache coherency circuitry initiates a coherency operation during which the snoop indication circuitry is referenced to determine whether any of the caches require subjecting to a snoop operation. For each cache for which it is determined a snoop operation should be performed, the cache coherency circuitry is arranged to issue a notification to that cache identifying the snoop operation to be performed. By taking advantage of information already provided in association with each cache in order to form the content of the snoop indication circuitry, significant hardware cost savings are achieved when compared with prior art techniques. Further, through use of such an approach, it is possible in embodiments of the present invention to identify the snoop operation not only on a cache-by-cache basis, but also for a particular cache to identify which segments of that cache should be subjected to the snoop operation.