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-rw-r--r--presentation/images/core-new.svg441
-rw-r--r--presentation/images/core.svg395
-rw-r--r--presentation/images/counter.svg207
-rw-r--r--presentation/images/functional.svg1086
-rw-r--r--presentation/images/model.dot16
-rw-r--r--presentation/images/model.svg62
-rw-r--r--presentation/images/pixhawk.jpgbin0 -> 32511 bytes
-rw-r--r--presentation/images/prototype.jpgbin0 -> 233704 bytes
-rw-r--r--presentation/images/stream-graphs.svg590
-rw-r--r--presentation/images/structure.pngbin0 -> 6463 bytes
-rw-r--r--presentation/images/trifle-schematic.pdfbin0 -> 33884 bytes
-rwxr-xr-xpresentation/images/trifle.jpgbin0 -> 583044 bytes
12 files changed, 2797 insertions, 0 deletions
diff --git a/presentation/images/core-new.svg b/presentation/images/core-new.svg
new file mode 100644
index 0000000..c1f9d07
--- /dev/null
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+ server->client1;
+ client1->server;
+ server->client2
+ client2->server;
+ server->clientn;
+ clientn->server;
+} \ No newline at end of file
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new file mode 100644
index 0000000..8a94489
--- /dev/null
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Binary files differ
diff --git a/presentation/images/prototype.jpg b/presentation/images/prototype.jpg
new file mode 100644
index 0000000..b5d4e88
--- /dev/null
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Binary files differ
diff --git a/presentation/images/stream-graphs.svg b/presentation/images/stream-graphs.svg
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