The Hera Framework for Fault-Tolerant Sensor Fusion with Erlang and GRiSP on an IoT
summary
Hera runs sensor fusion entirely on edge GRiSP boards using Erlang, replacing cloud and showing fault tolerance via fault injection; it implements an asynchronous Kalman filter engine, shares measurements by UDP multicast, and stores data locally for real‑time updates. Demonstrations include position/velocity on a model train with 3 GRiSP boards and an AHRS orientation estimator that runs on a single board and hits hardware limits. Roadmap targets a new matrix library 10–100× faster and GRiSP toolchain 10–20× faster.
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chapters (15)
- 0:00Intro
- 1:09What is sensor fusion
- 1:30loT is growing faster than the Cloud
- 2:00Cloud and Fog computing
- 4:09The GRISP platform
- 4:58The Hera framework
- 5:28Sensor fusion engine: The Kalman filter
- 6:49Software architecture
- 8:491 Fault tolerance is important in loT
- 9:23How does Hera achieve fault tolerance ?
- 10:03Hera fault tolerance
- 10:20Position and velocity of a model train with 3 GRISP-Base boards
- 11:13Attitude and heading reference system (AHRS)
- 12:14Conclusion
- 12:58Future work
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