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Adelie BLE direction latency
Checks whether BLE transport latency is symmetric in the two directions.
Project records
Media archive
Images, videos, 3D models, plots and documents for the floating behavioural platform.
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Adelie clock prediction error
Shows the error observed when the current clock model predicts the next synchronisation point.
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Adelie clock model fit
Shows how accurately the rolling affine model represents Adelie and Korora time.
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Adelie clock rate estimate
Tracks drift in the host clock-rate estimate used by the synchronisation model.
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Adelie BLE clock sync round-trip time
Measures the transport portion of each Adelie-to-Korora clock exchange.
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Adelie command latency by stage
Shows where time is spent as commands travel through BLE, Korora, I²C and Fairy processing.
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Adelie command round-trip time
Measures complete command-response latency as observed by Adelie.
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Clock and delivery continuity
Distinguishes a stopped or reset device clock from delayed BLE delivery.
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Clock exchange stage timing
Separates Korora processing from BLE transport latency during clock exchange.
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Host command stage timing
Breaks command latency into the stages observed by Adelie on the host.
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Background clock exchange round-trip time
Measures routine BLE clock-exchange latency between Adelie and Korora.
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Command latency distribution
Shows the complete latency distribution, including tails, for each command type.
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Experiment control command round-trip time
Measures end-to-end latency for non-clock experiment commands.
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Counter increment diagnostics
Uses counter deltas to expose bursts without misleading cumulative totals.
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Cross-device event alignment
Shows cross-device event alignment against the Korora reference timeline.
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Cross-device event timing error by node
Compares event timing bias and spread using sample count, median, absolute P95 and absolute maximum.
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Application event counts by node
Compares the number of application events reported by each device.
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Application event timeline
Shows when application events occurred and which device reported them.
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Fairy · Clock model adjustment
Shows how strongly each accepted synchronisation observation changes the model.
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Fairy · Clock prediction error distribution
Summarises prediction bias and tail error for Fairy clock model.
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Fairy · Clock rate stability
Compares measured interval-rate error with the firmware clock-rate estimate.
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Fairy · Clock stability vs. model fit
Tests whether unstable clock intervals degrade synchronisation model quality.
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Fairy · Clock synchronisation state
Shows clock-model availability and reset periods throughout the recording.
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Fairy · External event delivery delay
Shows how long event records take to arrive after capture.
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Fairy · External event timing error
Tracks converted external-event timing error against the Korora reference.
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Fairy · External event timing error distribution
Summarises event timing bias, spread and tail error for Fairy.
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Fairy · Received event timing offset
Provides a diagnostic view of the timing offset seen when an event record arrives.
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Fairy · Synchronisation record delivery delay
Measures how long synchronisation observations take to reach the analysis path.
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Fairy · Synchronisation record interval
Checks the cadence and continuity of synchronisation observations.
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Galapagos · Clock model adjustment
Shows how strongly each accepted synchronisation observation changes the model.
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Fairy · Event timing error vs. delivery delay
Tests whether delayed event delivery is associated with timestamp conversion error.
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Fairy · External event synchronisation state
Shows when external event timestamps are synchronized and when conversion is unavailable.
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Galapagos · Clock model fit
Compares firmware fit quality against the independent analysis model.
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Galapagos · Clock prediction error distribution
Summarises prediction bias and tail error for Galapagos clock model.
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Galapagos · Clock rate stability
Compares measured interval-rate error with the firmware clock-rate estimate.
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Galapagos · Clock stability vs. model fit
Tests whether unstable clock intervals degrade synchronisation model quality.
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Galapagos · Clock prediction error
Tracks short-term prediction accuracy and model-reset effects.
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Galapagos · Clock synchronisation state
Shows clock-model availability and reset periods throughout the recording.
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Galapagos · Event timing error vs. delivery delay
Tests whether delayed event delivery is associated with timestamp conversion error.
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Galapagos · External event synchronisation state
Shows when external event timestamps are synchronized and when conversion is unavailable.
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Galapagos · External event delivery delay
Shows how long event records take to arrive after capture.
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Galapagos · External event timing error
Tracks converted external-event timing error against the Korora reference.
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Galapagos · External event timing error distribution
Summarises event timing bias, spread and tail error for Galapagos.
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Galapagos · Received event timing offset
Provides a diagnostic view of the timing offset seen when an event record arrives.
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Galapagos · Synchronisation record delivery delay
Measures how long synchronisation observations take to reach the analysis path.
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Galapagos · Synchronisation record interval
Checks the cadence and continuity of synchronisation observations.
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Adelie BLE transport diagnostics
Provides the complete host-side view of BLE performance and congestion.
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Korora reference event interval
Checks the cadence and stability of the reference events used for cross-device alignment.
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BLE signal strength by node
Tracks wireless signal strength and helps distinguish radio degradation from software congestion.
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Longest record silences
Highlights the worst observed record-delivery interruption for every device.
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Record gaps and cumulative distribution
Shows both when record silences occur and how their durations are distributed.
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Record rate by node and type
Compares record cadence across devices and Fairy record categories.
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Synchronisation model state
Shows when each clock model has enough observations and whether it is acquiring or tracking.
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Synchronisation pair timing detail
Examines the raw timing pairs used to update each device clock model.
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Synchronisation prediction error distribution
Summarises the centre, spread and tails of one-step clock prediction errors.
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Synchronisation prediction error
Compares immediate clock predictions with the residual error of the rolling fit.
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Synchronisation quality and clock skew
Tracks clock-model fit quality and clock-rate error throughout the recording.
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Synchronisation quality distributions
Compares synchronisation accuracy and rate error across devices.
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TTL alignment detail
Measures alignment between scheduled Galapagos TTL pulses and Korora acquisition.
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TTL completeness and timing distribution
Checks that TTL requests reach every pipeline stage and quantifies generation and capture error.
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Scheduled TTL pulse outcomes
Shows whether TTL requests complete every stage of the scheduling and acquisition path.
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Scheduled TTL timing error distribution
Summarises completed TTL end-to-end timing error using median, absolute P95 and absolute maximum.
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Scheduled TTL timing field consistency
Validates the internal consistency of generation, acquisition and total-error fields.
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Verification metric correlations
Compares relationships between recorded validation metrics to identify coupled timing and delivery behaviours.
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Physical communication architecture
Korora and the reward-port controllers move with the floating platform. BLE connects the untethered platform to behavioural software and the stationary Galapagos timing interface, while UART over RS485 connects devices within the platform.
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From local detection to a common timeline
A reward-port event is timestamped locally, transported to Korora and translated onto the shared experimental timeline using the current affine clock model.
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Reward-port front assembly
Front view showing the visual cue, speaker, light gate and reward outlet used for cue presentation, snout-entry detection and liquid delivery.
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Reward-port control electronics
Rear view showing the custom STM32 control board, audio circuitry, valve driver and platform power and communication connectors.
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Integrated breadboard prototype
Bench prototype containing the Korora mobile hub, Fairy reward-port controllers, Galapagos timing interface and host control software.
3D model
Full reward-port 3D model
Interactive GLB model of the full reward-port assembly used for visual inspection of the prototype geometry.
3D model
Reward-port PCB 3D model
Interactive GLB model of the reward-port control PCB used to inspect board layout and connector placement.
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External event validation method
Shared electrical pulses are captured by independently clocked devices and compared after translation onto the Korora timeline.
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Physical output validation method
A TTL is scheduled through Korora and Galapagos, generated physically and captured to compare requested and measured execution times.
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Long-duration stability method
Continuous sessions monitor event capture, TTL generation, synchronisation quality, record delivery and node health.
Video
Programmable speaker-output demonstration 1
Bench demonstration of programmable audio playback through a Fairy reward-port controller.
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Programmable speaker-output demonstration 2
Second bench demonstration of programmable audio playback through a Fairy reward-port controller.