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Commit 4db33f85 authored by Jake Read's avatar Jake Read
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TinyNets is stateless, resilient multipath message passing for networked control systems.
See a longer report on the work (for 6.829) [here](https://gitlab.cba.mit.edu/jakeread/tinynets/blob/master/document/6-829_project-jr_dk_ns_pw_Tiny_Nets_finalReport.pdf).
See a longer report on the work (for 6.829) [here](https://gitlab.cba.mit.edu/jakeread/tinynets/raw/master/document/6-829_project-jr_dk_ns_pw_Tiny_Nets_finalReport.pdf).
## Networked Control Systems (NCS)
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We show that TinyNets recovers fairly well from the loss of nodes:
![failure-recovery](https://gitlab.cba.mit.edu/jakeread/tinynets/blob/master/document/node_failure_recovery.png)
![failure-recovery](https://gitlab.cba.mit.edu/jakeread/tinynets/raw/master/document/node_failure_recovery.png)
In addition, we developed TinyNets to run on small microcontrollers, that can simulatenously be used to do 'other stuff' - i.e. motor control, sensor reading, etc.
![12-routers](https://gitlab.cba.mit.edu/jakeread/tinynets/blob/master/document/hardware-12_routers.jpg)
![12-routers](https://gitlab.cba.mit.edu/jakeread/tinynets/raw/master/document/hardware-12_routers.jpg)
![one-router](https://gitlab.cba.mit.edu/jakeread/tinynets/blob/master/document/atsam-router-board.png)
![one-router](https://gitlab.cba.mit.edu/jakeread/tinynets/raw/master/document/atsam-router-board.png)
On the hardware we tested (a 300MHz embedded uc) we record a packet processing time<sup>3</sup> of about 37us.
![p_time](https://gitlab.cba.mit.edu/jakeread/tinynets/blob/master/results/3node-delays/results-D_p.png)
![p_time](https://gitlab.cba.mit.edu/jakeread/tinynets/raw/master/results/3node-delays/results-D_p.png)
With a bitrate of about ~2MBPS we do a total per-hop time of ~ 100us. This means that between two nodes we can run a 10kHz control loop.
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