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TCP Uses a Fixed Connection
TCP is for communication between applications.
If one application wants to communicate with another via TCP, it sends a communication request. This request must be sent to an exact address. After a "handshake" between the two applications, TCP will set up a "full-duplex" communication between the two applications.
The "full-duplex" communication will occupy the communication line between the two computers until it is closed by one of the two applications.
UDP is very similar to TCP, but simpler and less reliable.
