Tesla Dojo is a series of supercomputers designed and built by Tesla for computer vision video processing and recognition. It was used for training Tesla's machine learning models to improve its Full Self-Driving (FSD) advanced driver-assistance system. It went into production in July 2023. Dojo's goal was to efficiently process millions of terabytes of video data captured from real-life driving situations from Tesla's 4+ million cars. This goal led to a considerably different architecture than conventional supercomputer designs. In August 2025, Bloomberg News reported that the Dojo project had been disbanded, though it was restarted in January 2026. == History == Tesla operates several massively parallel computing clusters for developing its Autopilot advanced driver assistance system. Its primary unnamed cluster using 5,760 Nvidia A100 graphics processing units (GPUs) was touted by Andrej Karpathy in 2021 at the fourth International Joint Conference on Computer Vision and Pattern Recognition (CCVPR 2021) to be "roughly the number five supercomputer in the world" at approximately 81.6 petaflops, based on scaling the performance of the Nvidia Selene supercomputer, which uses similar components. However, the performance of the primary Tesla GPU cluster has been disputed, as it was not clear if this was measured using single-precision or double-precision floating point numbers (FP32 or FP64). Tesla also operates a second 4,032 GPU cluster for training and a third 1,752 GPU cluster for automatic labeling of objects. The primary unnamed Tesla GPU cluster has been used for processing one million video clips, each ten seconds long, taken from Tesla Autopilot cameras operating in Tesla cars in the real world, running at 36 frames per second. Collectively, these video clips contained six billion object labels, with depth and velocity data; the total size of the data set was 1.5 petabytes. This data set was used for training a neural network intended to help Autopilot computers in Tesla cars understand roads. By August 2022, Tesla had upgraded the primary GPU cluster to 7,360 GPUs. Dojo was first mentioned by Elon Musk in April 2019 during Tesla's "Autonomy Investor Day". In August 2020, Musk stated it was "about a year away" due to power and thermal issues. Dojo was officially announced at Tesla's Artificial Intelligence (AI) Day on August 19, 2021. Tesla revealed details of the D1 chip and its plans for "Project Dojo", a datacenter that would house 3,000 D1 chips; the first "Training Tile" had been completed and delivered the week before. In October 2021, Tesla released a "Dojo Technology" whitepaper describing the Configurable Float8 (CFloat8) and Configurable Float16 (CFloat16) floating point formats and arithmetic operations as an extension of Institute of Electrical and Electronics Engineers (IEEE) standard 754. At the follow-up AI Day in September 2022, Tesla announced it had built several System Trays and one Cabinet. During a test, the company stated that Project Dojo drew 2.3 megawatts (MW) of power before tripping a local San Jose, California power substation. At the time, Tesla was assembling one Training Tile per day. In August 2023, Tesla powered on Dojo for production use as well as a new training cluster configured with 10,000 Nvidia H100 GPUs. In January 2024, Musk described Dojo as "a long shot worth taking because the payoff is potentially very high. But it's not something that is a high probability." In June 2024, Musk explained that ongoing construction work at Gigafactory Texas is for a computing cluster claiming that it is planned to comprise an even mix of "Tesla AI" and Nvidia/other hardware with a total thermal design power of at first 130 MW and eventually exceeding 500 MW. In August 2025, Bloomberg News reported that the Dojo project was disbanded, though Musk announced it would be restarted in January 2026 with a new chip iteration. == Technical architecture == The fundamental unit of the Dojo supercomputer is the D1 chip, designed by a team at Tesla led by ex-AMD CPU designer Ganesh Venkataramanan, including Emil Talpes, Debjit Das Sarma, Douglas Williams, Bill Chang, and Rajiv Kurian. The D1 chip is manufactured by the Taiwan Semiconductor Manufacturing Company (TSMC) using 7 nanometer (nm) semiconductor nodes, has 50 billion transistors and a large die size of 645 mm2 (1.0 square inch). Updating at Artificial Intelligence (AI) Day in 2022, Tesla announced that Dojo would scale by deploying multiple ExaPODs, in which there would be: 10 Cabinets per ExaPOD (1,062,000 cores, 3,000 D1 chips) 2 System Trays per Cabinet (106,200 cores, 300 D1 chips) 6 Training Tiles per System Tray (53,100 cores, along with host interface hardware) 25 D1 chips per Training Tile (8,850 cores) 354 computing cores per D1 chip According to Venkataramanan, Tesla's senior director of Autopilot hardware, Dojo will have more than an exaflop (a million teraflops) of computing power. For comparison, according to Nvidia, in August 2021, the (pre-Dojo) Tesla AI-training center used 720 nodes, each with eight Nvidia A100 Tensor Core GPUs for 5,760 GPUs in total, providing up to 1.8 exaflops of performance. === D1 chip === Each node (computing core) of the D1 processing chip is a general purpose 64-bit CPU with a superscalar core. It supports internal instruction-level parallelism, and includes simultaneous multithreading (SMT). It doesn't support virtual memory and uses limited memory protection mechanisms. Dojo software/applications manage chip resources. The D1 instruction set supports both 64-bit scalar and 64-byte single instruction, multiple data (SIMD) vector instructions. The integer unit mixes reduced instruction set computer (RISC-V) and custom instructions, supporting 8, 16, 32, or 64 bit integers. The custom vector math unit is optimized for machine learning kernels and supports multiple data formats, with a mix of precisions and numerical ranges, many of which are compiler composable. Up to 16 vector formats can be used simultaneously. ==== Node ==== Each D1 node uses a 32-byte fetch window holding up to eight instructions. These instructions are fed to an eight-wide decoder which supports two threads per cycle, followed by a four-wide, four-way SMT scalar scheduler that has two integer units, two address units, and one register file per thread. Vector instructions are passed further down the pipeline to a dedicated vector scheduler with two-way SMT, which feeds either a 64-byte SIMD unit or four 8×8×4 matrix multiplication units. The network on-chip (NOC) router links cores into a two-dimensional mesh network. It can send one packet in and one packet out in all four directions to/from each neighbor node, along with one 64-byte read and one 64-byte write to local SRAM per clock cycle. Hardware native operations transfer data, semaphores and barrier constraints across memories and CPUs. System-wide double data rate 4 (DDR4) synchronous dynamic random-access memory (SDRAM) memory works like bulk storage. ==== Memory ==== Each core has a 1.25 megabytes (MB) of SRAM main memory. Load and store speeds reach 400 gigabytes (GB) per second and 270 GB/sec, respectively. The chip has explicit core-to-core data transfer instructions. Each SRAM has a unique list parser that feeds a pair of decoders and a gather engine that feeds the vector register file, which together can directly transfer information across nodes. ==== Die ==== Twelve nodes (cores) are grouped into a local block. Nodes are arranged in an 18×20 array on a single die, of which 354 cores are available for applications. The die runs at 2 gigahertz (GHz) and totals 440 MB of SRAM (360 cores × 1.25 MB/core). It reaches 376 teraflops using 16-bit brain floating point (BF16) numbers or using configurable 8-bit floating point (CFloat8) numbers, which is a Tesla proposal, and 22 teraflops at FP32. Each die comprises 576 bi-directional serializer/deserializer (SerDes) channels along the perimeter to link to other dies, and moves 8 TB/sec across all four die edges. Each D1 chip has a thermal design power of approximately 400 watts. === Training Tile === The water-cooled Training Tile packages 25 D1 chips into a 5×5 array. Each tile supports 36 TB/sec of aggregate bandwidth via 40 input/output (I/O) chips - half the bandwidth of the chip mesh network. Each tile supports 10 TB/sec of on-tile bandwidth. Each tile has 11 GB of SRAM memory (25 D1 chips × 360 cores/D1 × 1.25 MB/core). Each tile achieves 9 petaflops at BF16/CFloat8 precision (25 D1 chips × 376 TFLOP/D1). Each tile consumes 15 kilowatts; 288 amperes at 52 volts. === System Tray === Six tiles are aggregated into a System Tray, which is integrated with a host interface. Each host interface includes 512 x86 cores, providing a Linux-based user environment. Previously, the Dojo System Tray was known as the Training Matrix, which includes six Training Tiles, 20 Dojo Interface Processor cards across four host servers, and Ethernet-l
The Visualization Handbook
The Visualization Handbook is a textbook by Charles D. Hansen and Christopher R. Johnson that serves as a survey of the field of scientific visualization by presenting the basic concepts and algorithms in addition to a current review of visualization research topics and tools. It is commonly used as a textbook for scientific visualization graduate courses. It is also commonly cited as a reference for scientific visualization and computer graphics in published papers, with almost 500 citations documented on Google Scholar. == Table of Contents == PART I - Introduction Overview of Visualization - William J. Schroeder and Kenneth M. Martin PART II - Scalar Field Visualization: Isosurfaces Accelerated Isosurface Extraction Approaches -Yarden Livnat Time-Dependent Isosurface Extraction - Han-Wei Shen Optimal Isosurface Extraction - Paolo Cignoni, Claudio Montani, Robert Scopigno, and Enrico Puppo Isosurface Extraction Using Extrema Graphs - Takayuki Itoh and Koji Koyamada Isosurfaces and Level-Sets - Ross Whitaker PART III - Scalar Field Visualization: Volume Rendering Overview of Volume Rendering - Arie E. Kaufman and Klaus Mueller Volume Rendering Using Splatting - Roger Crawfis, Daqing Xue, and Caixia Zhang Multidimensional Transfer Functions for Volume Rendering - Joe Kniss, Gordon Kindlmann, and Charles D. Hansen Pre-Integrated Volume Rendering - Martin Kraus and Thomas Ertl Hardware-Accelerated Volume Rendering - Hanspeter Pfister PART IV - Vector Field Visualization Overview of Flow Visualization - Daniel Weiskopf and Gordon Erlebacher Flow Textures: High-Resolution Flow Visualization - Gordon Erlebacher, Bruno Jobard, and Daniel Weiskopf Detection and Visualization of Vortices - Ming Jiang, Raghu Machiraju, and David Thompson PART V - Tensor Field Visualization Oriented Tensor Reconstruction - Leonid Zhukov and Alan H. Barr Diffusion Tensor MRI Visualization - Song Zhang, David Laidlaw, and Gordon Kindlmann Topological Methods for Flow Visualization - Gerik Scheuermann and Xavier Tricoche PART VI - Geometric Modeling for Visualization 3D Mesh Compression - Jarek Rossignac Variational Modeling Methods for Visualization - Hans Hagen and Ingrid Hotz Model Simplification - Jonathan D. Cohen and Dinesh Manocha PART VII - Virtual Environments for Visualization Direct Manipulation in Virtual Reality - Steve Bryson The Visual Haptic Workbench - Milan Ikits and J. Dean Brederson Virtual Geographic Information Systems - William Ribarsky Visualization Using Virtual Reality - R. Bowen Loftin, Jim X. Chen, and Larry Rosenblum PART VIII - Large-Scale Data Visualization Desktop Delivery: Access to Large Datasets - Philip D. Heermann and Constantine Pavlakos Techniques for Visualizing Time-Varying Volume Data - Kwan-Liu Ma and Eric B. Lum Large-Scale Data Visualization and Rendering: A Problem-Driven Approach - Patrick McCormick and James Ahrens Issues and Architectures in Large-Scale Data Visualization - Constantine Pavlakos and Philip D. Heermann Consuming Network Bandwidth with Visapult - Wes Bethel and John Shalf PART IX - Visualization Software and Frameworks The Visualization Toolkit - William J. Schroeder and Kenneth M. Martin Visualization in the SCIRun Problem-Solving Environment - David M. Weinstein, Steven Parker, Jenny Simpson, Kurt Zimmerman, and Greg M. Jones Numerical Algorithms Group IRIS Explorer - Jeremy Walton AVS and AVS/Express - Jean M. Favre and Mario Valle Vis5D, Cave5D, and VisAD - Bill Hibbard Visualization with AVS - W. T. Hewitt, Nigel W. John, Matthew D. Cooper, K. Yien Kwok, George W. Leaver, Joanna M. Leng, Paul G. Lever, Mary J. McDerby, James S. Perrin, Mark Riding, I. Ari Sadarjoen, Tobias M. Schiebeck, and Colin C. Venters ParaView: An End-User Tool for Large-Data Visualization - James Ahrens, Berk Geveci, and Charles Law The Insight Toolkit: An Open-Source Initiative in Data Segmentation and Registration - Terry S. Yoo amira: A Highly Interactive System for Visual Data Analysis - Detlev Stalling, Malte Westerhoff, and Hans-Christian Hege PART X - Perceptual Issues in Visualization Extending Visualization to Perceptualization: The Importance of Perception in Effective Communication of Information - David S. Ebert Art and Science in Visualization - Victoria Interrante Exploiting Human Visual Perception in Visualization - Alan Chalmers and Kirsten Cater PART XI - Selected Topics and Applications Scalable Network Visualization - Stephen G. Eick Visual Data-Mining Techniques - Daniel A. Keim, Mike Sips, and Mihael Ankerst Visualization in Weather and Climate Research - Don Middleton, Tim Scheitlin, and Bob Wilhelmson Painting and Visualization - Robert M. Kirby, Daniel F. Keefe, and David Laidlaw Visualization and Natural Control Systems for Microscopy - Russell M. Taylor II, David Borland, Frederick P. Brooks, Jr., Mike Falvo, Kevin Jeffay, Gail Jones, David Marshburn, Stergios J. Papadakis, Lu-Chang Qin, Adam Seeger, F. Donelson Smith, Dianne Sonnenwald, Richard Superfine, Sean Washburn, Chris Weigle, Mary Whitton, Leandra Vicci, Martin Guthold, Tom Hudson, Philip Williams, and Warren Robinett Visualization for Computational Accelerator Physics - Kwan-Liu Ma, Greg Schussman, and Brett Wilson
Completeness (cryptography)
In cryptography, a boolean function is said to be complete if the value of each output bit depends on all input bits. This is a desirable property to have in an encryption cipher, so that if one bit of the input (plaintext) is changed, every bit of the output (ciphertext) has an average of 50% probability of changing. The easiest way to show why this is good is the following: consider that if we changed our 8-byte plaintext's last byte, it would only have any effect on the 8th byte of the ciphertext. This would mean that if the attacker guessed 256 different plaintext-ciphertext pairs, he would always know the last byte of every 8byte sequence we send (effectively 12.5% of all our data). Finding out 256 plaintext-ciphertext pairs is not hard at all in the internet world, given that standard protocols are used, and standard protocols have standard headers and commands (e.g. "get", "put", "mail from:", etc.) which the attacker can safely guess. On the other hand, if our cipher has this property (and is generally secure in other ways, too), the attacker would need to collect 264 (~1020) plaintext-ciphertext pairs to crack the cipher in this way.
Utah Social Media Regulation Act
S.B. 152 and H.B. 311, collectively known as the Utah Social Media Regulation Act, were social media regulation bills that were passed by the Utah State Legislature in March 2023. The bills would have collectively imposed restrictions on how social networking services serve minors in the state of Utah, including mandatory age verification and age restrictions, as well as restrictions on data collection and on algorithmic recommendations. The Act was intended to take effect in March 2024. However, following a lawsuit over the Act by NetChoice, a tech industry lobby group, the Utah attorney general stated in January 2024 that its implementation had been delayed to October 2024, but was likely to be repealed and amended. On September 10, 2024 Chief Judge Robert J. Shelby issued a written order granting a request from NetChoice for a preliminary injunction, meaning that Utah will be unable to enforce its social media law as litigation plays out. The law was appealed to the 10th Circuit on October 11, 2024 and is awaiting a decision. == Provisions == The Act comprises two bills, S.B. 152 and H.B. 311, which respectively regulate access to social network accounts registered to minors, and impose obligations on social networking services to follow design practices that protect the privacy of minors. The bills would apply to social networks with more than 5 million active users in the United States. Social networking services would've verified the age of all users in the state of Utah, or else their account must've been deleted. The Act does not specify a specific method of age verification. Users who are under 18 must have consent from a parent or guardian to open an account, and the parent must be able to have access to the account and its data for monitoring. Unless required to comply with state or federal law, social networks were prohibited from collecting data based on the activity of minors, and may've not displayed targeted advertising or algorithmic recommendations of content, users, or groups to minors. A social network must not allow minors to access the service between the hours of 10:30 p.m., and 6:30 a.m. without parental consent. H.B. 311 prohibits social networks from exposing features to minors that cause them to have an "addiction" to the platform; the service must perform quarterly audits, and may be sued by users for harms caused by providing "addictive" features; there is a rebuttable presumption of harm if the plaintiff is 16 or younger. The bills prescribed fines of $2,500 per-violation for violations of the provisions of S.B. 152, and up to $250,000 in liabilities (plus fines of $2,500 per-user) for violations of the addiction rules. == History == The two bills were passed in early-March 2023, and signed by Governor Spencer Cox on March 23, 2023. Cox cited studies linking social media addiction to increases in depression and suicide among youth. They were originally intended to take effect on March 1, 2024. In the wake of a lawsuit in Arkansas by the trade association NetChoice over a similar bill, state senator and bill author Mike McKell stated that he planned to introduce amendments when the legislature resumed in 2024. In December 2023, NetChoice filed a lawsuit in Utah seeking to block the Act, citing that its definition of a social network was too vague, and that it "restricts who can express themselves, what can be said, and when and how speech on covered websites can occur, down to the very hours of the day minors can use covered websites. The First Amendment, reinforced by decades of precedent, allows none of this." In regards to its age verification requirements, NetChoice argued that "it may not be enough to simply verify the age of whatever person may be listed on a form of identification (even if they have such a record) because that record may not accurately reflect who the individual actually is." The office of the attorney general stated that the state was "reviewing the lawsuit but remains intently focused on the goal of this legislation: Protecting young people from negative and harmful effects of social media use." In January 2024, Attorney General Sean Reyes asked the court to delay a hearing over the bill, stating that its effective date had been delayed to October 2024, and that the legislature planned to repeal and replace the bills. On September 10, 2024, Federal Chief Judge Robert Shelby granted a preliminary injunction to stop enforcement of the law as litigation continues. The law was later appealed on October 11, 2024, by the state of Utah and had a court hearing on the appeal on November 20, 2025.
Data profiling
Data profiling is the process of examining the data available from an existing information source (e.g. a database or a file) and collecting statistics or informative summaries about that data. The purpose of these statistics may be to: Find out whether existing data can be easily used for other purposes Improve the ability to search data by tagging it with keywords, descriptions, or assigning it to a category Assess data quality, including whether the data conforms to particular standards or patterns Assess the risk involved in integrating data in new applications, including the challenges of joins Discover metadata of the source database, including value patterns and distributions, key candidates, foreign-key candidates, and functional dependencies Assess whether known metadata accurately describes the actual values in the source database Understanding data challenges early in any data intensive project, so that late project surprises are avoided. Finding data problems late in the project can lead to delays and cost overruns. Have an enterprise view of all data, for uses such as master data management, where key data is needed, or data governance for improving data quality. == Introduction == Data profiling refers to the analysis of information for use in a data warehouse in order to clarify the structure, content, relationships, and derivation rules of the data. Profiling helps to not only understand anomalies and assess data quality, but also to discover, register, and assess enterprise metadata. The result of the analysis is used to determine the suitability of the candidate source systems, usually giving the basis for an early go/no-go decision, and also to identify problems for later solution design. == How data profiling is conducted == Data profiling utilizes methods of descriptive statistics such as minimum, maximum, mean, mode, percentile, standard deviation, frequency, variation, aggregates such as count and sum, and additional metadata information obtained during data profiling such as data type, length, discrete values, uniqueness, occurrence of null values, typical string patterns, and abstract type recognition. The metadata can then be used to discover problems such as illegal values, misspellings, missing values, varying value representation, and duplicates. Different analyses are performed for different structural levels. E.g. single columns could be profiled individually to get an understanding of frequency distribution of different values, type, and use of each column. Embedded value dependencies can be exposed in a cross-columns analysis. Finally, overlapping value sets possibly representing foreign key relationships between entities can be explored in an inter-table analysis. Normally, purpose-built tools are used for data profiling to ease the process. The computational complexity increases when going from single column, to single table, to cross-table structural profiling. Therefore, performance is an evaluation criterion for profiling tools. == When is data profiling conducted? == According to Kimball, data profiling is performed several times and with varying intensity throughout the data warehouse developing process. A light profiling assessment should be undertaken immediately after candidate source systems have been identified and DW/BI business requirements have been satisfied. The purpose of this initial analysis is to clarify at an early stage if the correct data is available at the appropriate detail level and that anomalies can be handled subsequently. If this is not the case the project may be terminated. Additionally, more in-depth profiling is done prior to the dimensional modeling process in order assess what is required to convert data into a dimensional model. Detailed profiling extends into the ETL system design process in order to determine the appropriate data to extract and which filters to apply to the data set. Additionally, data profiling may be conducted in the data warehouse development process after data has been loaded into staging, the data marts, etc. Conducting data at these stages helps ensure that data cleaning and transformations have been done correctly and in compliance of requirements. == Benefits and examples == Data profiling can improve data quality, shorten the implementation cycle of major projects, and improve users' understanding of data. Discovering business knowledge embedded in data itself is one of the significant benefits derived from data profiling. It can improve data accuracy in corporate databases.
MySocialCloud
MySocialCloud is a cloud-based bookmark vault and password website that allows users to log into all of their online accounts from a single, secure website. The company's investors include Sir Richard Branson, Insight Venture Partners’ Jerry Murdock, and PhotoBucket founder Alex Welch. The company and its founders have been featured in TechCrunch and The Huffington Post. == History == MySocialCloud was co-founded by Scott Ferreira, Stacey Ferreira, and Shiv Prakash in 2011. The idea for a one-stop password storage and login tool came when a computer crash left Scott without documents he used to store access information to his online data. In 2013, the siblings sold MySocialCloud to Reputation.com. == Services == MySocialCloud is cloud-based, and the platform lets users securely store passwords and automatically log into several social media websites simultaneously. The website auto-populates password fields, letting the user log into all of the sites at the push of a button. The service also provides users with security updates for the websites they have included in their profile, and informs users if a website has been hacked. Security played a major role during development of the platform. Passwords stored on the service are salted and hashed with a two-way encryption method known as AES.
CANaerospace
CANaerospace is a higher layer protocol based on Controller Area Network (CAN) which has been developed by Stock Flight Systems in 1998 for aeronautical applications. == Background == CANaerospace supports airborne systems employing the Line-replaceable unit (LRU) concept to share data across CAN and ensures interoperability between CAN LRUs by defining CAN physical layer characteristics, network layers, communication mechanisms, data types and aeronautical axis systems. CANaerospace is an open source project, was initiated to standardize the interface between CAN LRUs on the system level. CANaerospace is continuously being developed further and has also been published by NASA as the Advanced General Aviation Transport Experiments Databus Standard in 2001. It found widespread use in aeronautical research worldwide. A major research aircraft that employs several CANaerospace networks for real-time computer interconnection is the Stratospheric Observatory for Infrared Astronomy (SOFIA), a Boeing 747SP with a 2.5m astronomic telescope. CANaerospace is also frequently used in flight simulation and connects entire aircraft cockpits (i.e. in Eurofighter Typhoon simulators) to the simulation host computers. In Italy CANaerospace is used as UAV data bus technology. Furthermore, CANaerospace serves as communication network in several general aviation avionics systems. The CANaerospace interface definition closes the gap between the ISO/OSI layer 1 and 2 CAN protocol (which is implemented in the CAN controller itself) and the specific requirements of distributed systems in aircraft. It may be used as a primary or ancillary avionics network and was designed to meet the following requirements: Democratic network: CANaerospace does not require any master/slave relationships between LRUs or a "bus controller", thereby avoiding a potential single source of failure. Every node in the network has the same rights for participation in the bus traffic. Self-identifying message format: Each CANaerospace message contains information about the type of the data and the transmitting node. This allows the data to be unambiguously recognized at each receiving node. Continuous Message Numbering: Each CANaerospace message contains a continuously incremented number which allows coherent processing of messages in the receiving stations. Message Status Code: Each CANaerospace message contains information about the integrity of the data is conveying. This allows receiving stations to evaluate the quality of the received data and to react accordingly. Emergency Event Signaling: CANaerospace defines a mechanism that allows each node to transmit information about exception or error situations. This information can be used by other stations to determine the network health. Node Service Interface: As an enhancement to CAN, CANaerospace provides a means for individual stations on the network to communicate with each other using connection-oriented and connectionless services. Predefined CAN Identifier Assignment: CANaerospace offers a predefined identifier assignment list for normal operation data. In addition to the predefined list, user-defined identifier assignment lists may be used. Ease of Implementation: The amount of code to implement CANaerospace is very little by design in order to minimize the effort for testing and certification of flight safety critical systems. Openness to Extensions: All CANaerospace definitions are extendable to provide flexibility for future enhancements and to allow adaptions to the requirements of specific applications. Free Availability: No cost whatsoever apply for the use of CANaerospace. The specification can be downloaded from the Internet == Physical interface == To ensure interoperability and reliable communication, CANaerospace specifies the electrical characteristics, bus transceiver requirements and data rates with the corresponding tolerances based on ISO 11898. The bit timing calculation (baud rate accuracy, sample point definition) and robustness to electromagnetic interference are given special emphasis. Also addressed are CAN connector, wiring considerations and design guidelines to maximize electromagnetic compatibility. == Communication layers == The Bosch CAN specification itself allows messages being transmitted both periodically and aperiodically but does not cover issues like data representation, node addressing or connection-oriented protocols. CAN is entirely based on Anyone-to-Many (ATM) communication which means that CAN messages are always received by all stations in the network. The advantage of the CAN concept is inherent data consistency between all stations, the drawback is that it does not allow node addressing which is the basis for Peer-to-Peer (PTP) communication. Using CAN networks in aeronautical applications, however, demands a standard targeted to the specific requirements of airborne systems which implies that communication between individual stations in the network must be possible to enable the required degree of system monitoring. Consequently, CANaerospace defines additional ISO/OSI layer 3, 4 and 6 functions to support node addressing and unified ATM/PTP communication mechanisms. PTP communication allows to set up client/server interactions between individual stations in the network either temporarily or permanently. More than one of these interactions may be in effect at any given time and each node may be client for one operation and server for another at the same time. This CANaerospace mechanism is called "Node Service Concept" and allows i.e. to distribute system functions over several stations in the network or to control dynamic system reconfiguration in case of failure. The Node Service concept supports both connection-oriented and connectionless interactions like with TCP/IP and UDP/IP for Ethernet. Enabling both ATM and PTP communication for CAN requires the introduction of independent network layers to isolate the different types of communication. This is realized for CANaerospace by forming CAN identifier groups as shown in Figure 1. The resulting structure creates Logical Communication Channels (LCCs) and assigns a specific communication type (ATM, PTP) to each of the LCCs. User-defined LCCs provide the necessary freedom for designers and allow the implementation of CANaerospace according to the needs of specific applications. Figure 1: Logical Communication Channels for CANaerospace As a side effect, the CAN identifier groups in Figure 1 affect the priority of the message transmission in case of bus arbitration. The communication channels are therefore arranged according to their relative importance: Emergency Event Data Channel (EED): This communication channel is used for messages which require immediate action (i.e. system degradation or reconfiguration) and have to be transmitted with very high priority. Emergency Event Data uses ATM communication exclusively. High/Low Priority Node Service Data Channel (NSH/NSL): These communication channels are used for client/server interactions using PTP communication. The corresponding services may be of the connection-oriented as well as the connectionless type. NSH/NSL may also be used to support test and maintenance functions. Normal Operation Data Channel (NOD): This communication channel is used for the transmission of the data which is generated during normal system operation and described in the CANaerospace identifier assignment list. These messages may be transmitted periodically or aperiodically as well as synchronously or asynchronously. All messages which cannot be assigned to other communication channels shall use this channel. High/Low Priority User-Defined Data Channel (UDH/UDL): This channel is dedicated to communication which cannot, due to their specific characteristics, be assigned other channels without violating the CANaerospace specification. As long as the defined identifier range is used, the message content and the communication type (ATM, PTP) for these channels may be specified by the system designer. To ensure interoperability it is highly recommended that the use of these channels is minimized. Debug Service Data Channel (DSD): This channel is dedicated to messages which are used temporarily for development and test purposes only and are not transmitted during normal operation. As long as the defined identifier range is used, the message content and the communication type (ATM, PTP) for these channels may be specified by the system designer. == Data representation == The majority of the real-time control systems used in aeronautics employ "big endian" processor architectures. This data representation was therefore specified for CANaerospace as well. With big endian data representation, the most significant bit of any datum is arranged leftmost and transmitted first on CANaerospace as shown in Figure 2. Figure 2: "Big Endian" Data Representation for CANaerospace CANaerospace uses a self-identifying message