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<!DOCTYPE html>
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<title>TinyNets - Nicholas S Selby</title><meta property="og:site_name" content="Nicholas S Selby">
<meta property="og:title" content="TinyNets">
<meta property="og:description" content="Networking">
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<div style="font-size: 16px !important;"><div style="height: 20px; overflow: hidden; width: 100%; font-size: 16px !important;"></div>
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<h2 class="wsite-content-title" style="font-size: 30px !important; line-height: 36px !important;">Motivation</h2>
<div class="paragraph" style="text-align: justify; font-size: 21px !important; line-height: 30px !important;">The
field of Networked Control Systems, or NCS, is unique from many other
networking fields. NCS refers to any application where many devices are
linked together to perform control of a physical system. They are common
in robotics and avionics, where many sensors and actuators work
together to perform a common goal (i.e. walking, stabilization, etc.),
and in manufacturing, where machine degrees of freedom are linked to
close positioning control loops, and where multiple machines are linked
to coordinate material handling and production scheduling.<br><br>Critically,<ul style="font-size: 21px !important; line-height: 30px !important;"><li style="font-size: 21px !important; line-height: 30px !important;">In NCS, <strong style="font-size: 21px !important; line-height: 30px !important;">total throughput is valued but not a key metric</strong>.</li><li style="font-size: 21px !important; line-height: 30px !important;">Rather,
message sizes are typically very small (between three and fifty bytes)
and message delay time is the critical metric. Often, messages are only
one packet in length.</li><li style="font-size: 21px !important; line-height: 30px !important;"><strong style="font-size: 21px !important; line-height: 30px !important;">Determinism in Message Delivery Time is critical</strong> - systems must guarantee that certain control loops 'close' within a defined set of time less they become unstable.</li><li style="font-size: 21px !important; line-height: 30px !important;"><strong style="font-size: 21px !important; line-height: 30px !important;">Robustness is critical</strong> - NCS should not contain any Single Points of Failure</li><li style="font-size: 21px !important; line-height: 30px !important;"><strong style="font-size: 21px !important; line-height: 30px !important;">Statelessness is critical</strong>
- NCS should not pause operation under any circumstances to re-converge
on routing solutions, as this adds fatal indeterminism to message
delivery.</li></ul><br>State of the art Networked Control Systems employ
simple Switched Ethernet, or proprietary versions thereof, in order to
route traffic. Hardware endpoints are fitted with an Ethernet PHY and
are connected in a heirarchy of switches. Ethernet MAC addresses are
used, and all routing takes place on Layer 2.<br><br>Switched Ethernet
has become the industry standard because of its relative
interoperability and high speeds. Critically, the last 10 years has seen
Switched Ethernet take up large portions of market share because it
solves many problems associated with Fieldbusses. Most importantly,
adding devices to a Fieldbus always caused a linear increase in message
delivery time, as is not the case with Switched Ethernet.<br><br>However,
Switched Ethernet was not originally developed for Networked Control
Systems, and many in industry have pointed out that it will not fulfill
customer needs in the near- and long-term future.<br><br>In Switched
Ethernet, because a Minimum Spanning Tree is created, nodes in a
particular layer compete for link-time on the layer above. Message delay
time increases linearly with the probability that peers are
transmitting at the same time, and with the number of peers on that
layer.<br><br>In addition, Switched Ethernet contains Single Points of
Failure, where a broken link or switch means that the network must
re-run the Spanning Tree Protocol algorithm - a process that often takes
seconds. Because Switched Ethernet graphs are highly heirarchical, it
is often the case that failure on a single link can cause entire
sections of the network to fail, or become unreachable.<br><br>Device
endpoints in NCS are scaling down in size and up in number. Requiring
that each endpoint carries with it an RJ45 Magnetic Jack and Ethernet
PHY is dubious, and sets a lower limit on the size and complexity that
sensors and actuators in an NCS must possess.<br><br>Switched Ethernet
is non-programmable. I.E. Switches are black-box IC's and do not allow
systems designers to arbitrarily add functions to a system on the
networking layer. For example, many NCS designers would like to
implement message priorities and load balancing, but this is not
possible on Layer 2.<br><br>An alternative to Ethernet which could
optimize the above metrics would have massive implications for
micro-robotics, avionics, and open-source reconfigurable hardware
systems.<br></div>
<h2 class="wsite-content-title" style="font-size: 30px !important; line-height: 36px !important;">Solution</h2>
<span class="imgPusher" style="float: right; height: 320px; font-size: 16px !important;"></span><span style="display: table; width: 380px; position: relative; float: right; max-width: 100%; clear: right; margin-top: 20px; font-size: 16px !important; line-height: 25px !important;"><a style="font-size: 16px !important;"><img src="resources/hardware-12-routers.jpg" style="margin-top: 5px; margin-bottom: 10px; margin-left: 0px; margin-right: 10px; border-width:1px;padding:3px; max-width:100%" alt="Picture" class="galleryImageBorder wsite-image"></a><span style="display: table-caption; caption-side: bottom; margin-top: -10px; margin-bottom: 10px; text-align: center; font-size: 14.4px !important; line-height: 25px !important;" class="wsite-caption">Our algorithm running on real hardware</span></span>
<div class="paragraph" style="text-align: justify; display: block; font-size: 21px !important; line-height: 30px !important;">TinyNets is a <span style="color: rgb(36, 41, 46); font-size: 21px !important; line-height: 30px !important;">networking
strategy for distributed robotic control systems developed by my team
and me in MIT's graduate computer science networking course. Our key
contributions are:</span><ul style="font-size: 21px !important; line-height: 30px !important;"><li style="font-size: 21px !important; line-height: 30px !important;">A strategy for stateless multipath routing that increases message delivery time determinism and network robustness.</li><li style="font-size: 21px !important; line-height: 30px !important;">A
real-time cost function, using next-hop buffer size (i.e. busyness
metric) as well as historical hop-count for per-packet dynamic
re-routing, that increases packet delivery-time determinism.</li><li style="font-size: 21px !important; line-height: 30px !important;">A
software-defined network architecture for arbitrary implementation in
any embedded system, where computing, physical space, and time is
limited.</li></ul><br>At a high level, our protocol:<ul style="font-size: 21px !important; line-height: 30px !important;"><li style="font-size: 21px !important; line-height: 30px !important;">Implements a multipath distance-vector routing protocol</li><li style="font-size: 21px !important; line-height: 30px !important;">Performs real-time route selection</li><li style="font-size: 21px !important; line-height: 30px !important;">Does automatic, convergence-free route discovery and optimization</li><li style="font-size: 21px !important; line-height: 30px !important;">Is robust in the face of link losses and router failures</li><li style="font-size: 21px !important; line-height: 30px !important;">Can be arbitrarily implemented in software on numerous microcontrollers</li><li style="font-size: 21px !important; line-height: 30px !important;">Is open-source</li></ul><br>Below is an illustration of TinyNets on a simulated network:<br></div>
<hr style="width: 100%; clear: both; visibility: hidden; font-size: 16px !important;">
<div style="position: relative; width: 100%; height: 0; padding-bottom: 56.25%;">
<iframe style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;" src="https://www.youtube.com/embed/4Rnn4MHgGAw" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
<div class="paragraph" style="text-align: justify; font-size: 21px !important; line-height: 30px !important;">You can download the full project report <a href="http://www.mit.edu/~nselby/resources/report-tinynets.pdf" target="_blank" style="font-size: 21px !important; line-height: 30px !important;">here</a>. Download our code and CAD files to try it yourself on <a href="https://github.com/jakeread/tinynets" target="_blank" style="font-size: 21px !important; line-height: 30px !important;">our GitHub repository</a>.<br></div>
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