redundant node

Upon failure of the primary node the redundant node takes over.

在主节点发生故障时，冗余节点可以接管。

Taking redundant control of materiel grasp and sending system as an example, output of redundant node was tested, output of fault controller was replaced by estimate output to renew function of controller, and realize self-diagnosis of the system.

以物料抓送系统的冗余控制为例，对冗余结点的输出进行检测、用估计输出取代故障控制器的输出使其功能恢复，实现系统的自诊断。

The main contribution of this paper is as follows: 1. For IP-based low-power lossy network routing protocol RPL ( IPv6Routing Protocol for LLN), existing algorithms transmit a large number of redundant data, and waste limited node energy resources.

本文的主要贡献如下：1.对于基于IP的低功耗有损网络路由协议RPL（IPv6Routing Protocol for LLN），已有的组播路由算法存在大量冗余的数据传输，浪费节点有限的能量资源。