CPS data

Hardware and software versions

Raspberry Pi

• Raspberry Pi 2 Model B V1.1
• Raspbian Jessie 8 based HypriotOS

Arduino

• Arduino Uno R3
• USB connection
• description: Communication device
• product: Uno R3 (CDC ACM)
• vendor: Arduino (www.arduino.cc)
• physical id: 4
• bus info: usb@1:1.4
• version: 0.01
• serial: 64131383331351804161
• capabilities: usb-1.10
• configuration: driver=cdc_acm maxpower=100mA speed=12Mbit/s

ROS

• ROS Indigo ros-indigo-ros-core=1.1.4-0 in Docker container (in DockerHub)
• Dockerfile
• Communication: rosrun rosserial_server serial_node _port:=/dev/ttyACM0
• docker run --name rospiduino -h rospiduino -it -v /home/pi/rpd:/home/pi/rpd --group-add dialout --device=/dev/ttyACM0:/dev/ttyACM0:rw pablogn/rospiduino
• ROS code

Docker

• Docker 1.9.1 docker-hypriot_1.9.1-1_armhf.deb Checksum 20.11.2015

R

• R scripting front-end version 3.0.2 (2013-09-25)

Data files: CSV

Data files:

• Data - 7z format (210 MB)
• Data Means - zip format (59 MB)
  • R script to check if data means follows a normal distribution

Filenames express the executing conditions. Meaning for a filename "Exe21-Per04-Gra10-Que010.csv":

• Exe 21: Execution number 21 (1-24)
• Per04: 4 ms period (2, 3, 4, 5, 8)
• Gra10: 10 kHz granularity (5, 10)
• Que010: Queue size of 10 (1, 2, 10, 100)

Data files: CSV with no undelivered messages

Similarly, there is a complete set of files with no lines with zero values "NoZ13-Per08-Gra10-Que100.csv", that is, latencies lines for messages that have no arrived are removed.

• Data with no Zero lines - 7z format (216 MB)

Graphics: Data plots, Density plots and Histograms

• Graphics

Example: [ Exe17-Per04-Gra05-Que010.csv ] (click on image to zoom-in)

Data plot	Histogram	Density plot + Boxplot
[ Exe17-Per04-Gra05-Que010.png ]	[ Exe17-Per04-Gra05-Que010-hist.png ]	[ Exe17-Per04-Gra05-Que010-box.png ]