Therefore the architecture tries to minimize the usage of communication
resources.
-\subsubsection{\iTasks{} $\rightarrow$ microcontroller}
+\subsubsection{\iTasks{} \texorpdfstring{$\rightarrow$}{->} microcontroller}
\input{commim.tex}
-\subsubsection{Microcontroller $\rightarrow$ \iTasks{}}
+\subsubsection{Microcontroller \texorpdfstring{$\rightarrow$}{->} \iTasks{}}
\input{commmi.tex}
\section{Conclusion}