diff --git a/config/ai_test/data.xml b/config/ai_test/data.xml
index c9b79da..e373369 100755
--- a/config/ai_test/data.xml
+++ b/config/ai_test/data.xml
@@ -264,8 +264,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="5" max="5"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="0"/>
               <task value="1"/>
@@ -284,8 +284,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="593" max="593"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="1"/>
               <task value="2"/>
@@ -310,8 +310,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="198" max="198"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="2"/>
               <task value="3"/>
@@ -336,8 +336,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="352" max="352"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="3"/>
               <task value="4"/>
@@ -362,8 +362,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1055" max="1055"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="4"/>
               <task value="5"/>
@@ -388,8 +388,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="149" max="149"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="5"/>
               <task value="6"/>
@@ -414,15 +414,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="396" max="396"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="6"/>
               <task value="7"/>
             </destination>
             <destination id="1">
-              <delay min="396" max="396"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="6"/>
               <task value="10"/>
@@ -447,8 +447,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="593" max="593"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="7"/>
               <task value="8"/>
@@ -473,8 +473,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="223" max="223"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="8"/>
               <task value="9"/>
@@ -499,8 +499,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="593" max="593"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="9"/>
               <task value="10"/>
@@ -525,15 +525,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="3" max="3"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="10"/>
               <task value="11"/>
             </destination>
             <destination id="1">
-              <delay min="3" max="3"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="10"/>
               <task value="14"/>
@@ -563,8 +563,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="593" max="593"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="11"/>
               <task value="12"/>
@@ -589,8 +589,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="223" max="223"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="12"/>
               <task value="13"/>
@@ -615,8 +615,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="593" max="593"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="13"/>
               <task value="14"/>
@@ -641,8 +641,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="3" max="3"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="14"/>
               <task value="15"/>
@@ -672,8 +672,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="593" max="593"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="15"/>
               <task value="16"/>
@@ -698,8 +698,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="160" max="160"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="16"/>
               <task value="17"/>
@@ -724,15 +724,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="306" max="306"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="17"/>
               <task value="18"/>
             </destination>
             <destination id="1">
-              <delay min="306" max="306"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="17"/>
               <task value="21"/>
@@ -757,8 +757,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="612" max="612"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="18"/>
               <task value="19"/>
@@ -783,8 +783,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="319" max="319"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="19"/>
               <task value="20"/>
@@ -809,8 +809,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="612" max="612"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="20"/>
               <task value="21"/>
@@ -835,15 +835,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="2" max="2"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="21"/>
               <task value="22"/>
             </destination>
             <destination id="1">
-              <delay min="2" max="2"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="21"/>
               <task value="25"/>
@@ -873,8 +873,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="612" max="612"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="22"/>
               <task value="23"/>
@@ -899,8 +899,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="319" max="319"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="23"/>
               <task value="24"/>
@@ -925,8 +925,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="612" max="612"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="24"/>
               <task value="25"/>
@@ -951,8 +951,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="2" max="2"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="25"/>
               <task value="26"/>
@@ -982,8 +982,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="612" max="612"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="26"/>
               <task value="27"/>
@@ -1008,8 +1008,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="31" max="31"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="27"/>
               <task value="28"/>
@@ -1034,15 +1034,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="298" max="298"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="28"/>
               <task value="29"/>
             </destination>
             <destination id="1">
-              <delay min="298" max="298"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="28"/>
               <task value="32"/>
@@ -1067,8 +1067,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="29"/>
               <task value="30"/>
@@ -1093,8 +1093,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="56" max="56"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="30"/>
               <task value="31"/>
@@ -1119,8 +1119,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="31"/>
               <task value="32"/>
@@ -1145,15 +1145,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="32"/>
               <task value="33"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="32"/>
               <task value="36"/>
@@ -1183,8 +1183,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="33"/>
               <task value="34"/>
@@ -1209,8 +1209,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="56" max="56"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="34"/>
               <task value="35"/>
@@ -1235,8 +1235,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="35"/>
               <task value="36"/>
@@ -1261,15 +1261,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="36"/>
               <task value="37"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="36"/>
               <task value="40"/>
@@ -1299,8 +1299,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="37"/>
               <task value="38"/>
@@ -1325,8 +1325,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="56" max="56"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="38"/>
               <task value="39"/>
@@ -1351,8 +1351,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="39"/>
               <task value="40"/>
@@ -1377,8 +1377,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="40"/>
               <task value="41"/>
@@ -1408,8 +1408,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="546" max="546"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="41"/>
               <task value="42"/>
@@ -1434,8 +1434,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="155" max="155"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="42"/>
               <task value="43"/>
@@ -1460,15 +1460,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="744" max="744"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="43"/>
               <task value="44"/>
             </destination>
             <destination id="1">
-              <delay min="744" max="744"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="43"/>
               <task value="47"/>
@@ -1493,8 +1493,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="44"/>
               <task value="45"/>
@@ -1519,8 +1519,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="212" max="212"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="45"/>
               <task value="46"/>
@@ -1545,8 +1545,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="46"/>
               <task value="47"/>
@@ -1571,15 +1571,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="47"/>
               <task value="48"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="47"/>
               <task value="51"/>
@@ -1609,8 +1609,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="48"/>
               <task value="49"/>
@@ -1635,8 +1635,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="212" max="212"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="49"/>
               <task value="50"/>
@@ -1661,8 +1661,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="50"/>
               <task value="51"/>
@@ -1687,15 +1687,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="51"/>
               <task value="52"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="51"/>
               <task value="55"/>
@@ -1725,8 +1725,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="52"/>
               <task value="53"/>
@@ -1751,8 +1751,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="212" max="212"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="53"/>
               <task value="54"/>
@@ -1777,8 +1777,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="54"/>
               <task value="55"/>
@@ -1803,8 +1803,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="55"/>
               <task value="56"/>
@@ -1834,8 +1834,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1014" max="1014"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="56"/>
               <task value="57"/>
@@ -1860,8 +1860,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="60" max="60"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="57"/>
               <task value="58"/>
@@ -1886,15 +1886,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="493" max="493"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="58"/>
               <task value="59"/>
             </destination>
             <destination id="1">
-              <delay min="493" max="493"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="58"/>
               <task value="62"/>
@@ -1919,8 +1919,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="59"/>
               <task value="60"/>
@@ -1945,8 +1945,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="103" max="103"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="60"/>
               <task value="61"/>
@@ -1971,8 +1971,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="61"/>
               <task value="62"/>
@@ -1997,15 +1997,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="62"/>
               <task value="63"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="62"/>
               <task value="66"/>
@@ -2035,8 +2035,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="63"/>
               <task value="64"/>
@@ -2061,8 +2061,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="103" max="103"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="64"/>
               <task value="65"/>
@@ -2087,8 +2087,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="65"/>
               <task value="66"/>
@@ -2113,15 +2113,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="66"/>
               <task value="67"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="66"/>
               <task value="70"/>
@@ -2151,8 +2151,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="67"/>
               <task value="68"/>
@@ -2177,8 +2177,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="103" max="103"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="68"/>
               <task value="69"/>
@@ -2203,8 +2203,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="69"/>
               <task value="70"/>
@@ -2229,15 +2229,15 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="70"/>
               <task value="71"/>
             </destination>
             <destination id="1">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="70"/>
               <task value="74"/>
@@ -2267,8 +2267,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="71"/>
               <task value="72"/>
@@ -2293,8 +2293,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="103" max="103"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="72"/>
               <task value="73"/>
@@ -2319,8 +2319,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="73"/>
               <task value="74"/>
@@ -2345,8 +2345,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="74"/>
               <task value="75"/>
@@ -2376,8 +2376,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="854" max="854"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="75"/>
               <task value="76"/>
@@ -2402,8 +2402,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="37" max="37"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="76"/>
               <task value="77"/>
@@ -2428,8 +2428,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1445" max="1445"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="77"/>
               <task value="78"/>
@@ -2454,8 +2454,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1483" max="1483"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="78"/>
               <task value="79"/>
@@ -2480,8 +2480,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="173" max="173"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="79"/>
               <task value="80"/>
@@ -2507,7 +2507,7 @@
           <destinations>
             <destination id="0">
               <delay min="10" max="10"/>
-              <interval min="20" max="20"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="80"/>
               <task value="81"/>
@@ -2532,8 +2532,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="52" max="52"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="81"/>
               <task value="82"/>
@@ -2558,8 +2558,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="1" max="1"/>
-              <interval min="20" max="20"/>
+              <delay min="10" max="10"/>
+              <interval min="10" max="10"/>
               <count min="10" max="10"/>
               <type value="82"/>
               <task value="83"/>
diff --git a/config/simple_2_point_test/2pt_data.xml b/config/simple_2_point_test/2pt_data.xml
index c91fdb8..42b28e9 100755
--- a/config/simple_2_point_test/2pt_data.xml
+++ b/config/simple_2_point_test/2pt_data.xml
@@ -5,7 +5,7 @@
       <name value="Packet"/>
     </dataType>
     <dataType id="1">
-      <name value="Streaming"/>
+      <name value="Stream"/>
     </dataType>
   </dataTypes>
   <tasks>
@@ -18,8 +18,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="0" max="100"/>
-              <interval min="100" max="100"/>
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
               <count min="1" max="1"/>
               <type value="0"/>
               <task value="2"/>
@@ -38,8 +38,8 @@
           <probability value="1"/>
           <destinations>
             <destination id="0">
-              <delay min="0" max="100"/>
-              <interval min="100" max="100"/>
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
               <count min="1" max="1"/>
               <type value="0"/>
               <task value="2"/>
@@ -57,12 +57,7 @@
         <requirement id="0">
           <type value="0"/>
           <source value="0"/>
-          <count max="1" min="1"/>
-        </requirement>
-        <requirement id="1">
-          <type value="0"/>
-          <source value="24"/>
-          <count max="1" min="1"/>
+          <count max="2" min="2"/>
         </requirement>
       </requires>
     </task>
diff --git a/config/simple_2_point_test/config.xml b/config/simple_2_point_test/config.xml
index 4de57e7..bc0faa5 100755
--- a/config/simple_2_point_test/config.xml
+++ b/config/simple_2_point_test/config.xml
@@ -5,7 +5,7 @@
     <outputToFile value="true">report</outputToFile>
   </general>
   <noc>
-    <nocFile>config/simple_test/net.xml</nocFile>
+    <nocFile>config/simple_2_point_test/net.xml</nocFile>
     <flitsPerPacket value="1"/>
     <bitWidth value="32"/>
     <Vdd value="5"/>
diff --git a/config/throttle_test/config.xml b/config/throttle_test/config.xml
new file mode 100755
index 0000000..8f5501d
--- /dev/null
+++ b/config/throttle_test/config.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0" ?>
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <general>
+    <simulationTime value="1500"/>
+    <outputToFile value="true">report</outputToFile>
+  </general>
+  <noc>
+    <nocFile>config/throttle_test/net.xml</nocFile>
+    <flitsPerPacket value="1"/>
+    <bitWidth value="32"/>
+    <Vdd value="5"/>
+  </noc>
+  <application>
+    <benchmark>task</benchmark>
+    <dataFile>config/throttle_test/data.xml</dataFile>
+    <mapFile>config/throttle_test/map.xml</mapFile>
+  </application>
+  <verbose>
+    <processingElements>
+      <function_calls value="false"/>
+      <send_flit value="false"/>
+      <send_head_flit value="true"/>
+      <receive_flit value="false"/>
+      <receive_tail_flit value="true"/>
+      <throttle value="false"/>
+      <reset value="false"/>
+    </processingElements>
+    <router>
+      <function_calls value="false"/>
+      <send_flit value="false"/>
+      <send_head_flit value="false"/>
+      <receive_flit value="false"/>
+      <receive_tail_flit value="false"/>
+      <throttle value="false"/>
+      <reset value="false"/>
+      <assign_channel value="false"/>
+      <buffer_overflow value="true"/>
+    </router>
+    <netrace>
+      <inject value="true"/>
+      <eject value="true"/>
+      <router_receive value="true"/>
+    </netrace>
+    <tasks>
+      <function_calls value="true"/>
+      <xml_parse value="false"/>
+      <data_receive value="true"/>
+      <data_send value="true"/>
+      <source_execute value="false"/>
+    </tasks>
+  </verbose>
+  <report>
+    <bufferReportRouters>5 6 9 10</bufferReportRouters>
+  </report>
+</configuration>
diff --git a/config/throttle_test/data.xml b/config/throttle_test/data.xml
new file mode 100755
index 0000000..b79db77
--- /dev/null
+++ b/config/throttle_test/data.xml
@@ -0,0 +1,245 @@
+<?xml version="1.0" ?>
+<data xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <dataTypes>
+    <dataType id="0">
+      <name value="Packet"/>
+    </dataType>
+    <dataType id="1">
+      <name value="Stream"/>
+    </dataType>
+  </dataTypes>
+  <tasks>
+    <task id="0">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="1">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="2">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="3">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="4">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="5">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="6">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="7">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="8">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="9">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="10">
+      <start min="0" max="0"/>
+      <duration min="-1" max="-1"/>
+      <repeat min="1" max="1"/>
+      <generates>
+        <possibility id="0">
+          <probability value="1"/>
+          <destinations>
+            <destination id="0">
+              <delay min="0" max="10"/>
+              <interval min="5" max="5"/>
+              <count min="10" max="10"/>
+              <type value="0"/>
+              <task value="11"/>
+            </destination>
+          </destinations>
+        </possibility>
+      </generates>
+    </task>
+
+    <task id="11">
+      <start max="0" min="0"/>
+      <duration max="-1" min="-1"/>
+      <repeat max="1" min="1"/>
+      <requires>
+        <requirement id="0">
+          <type value="0"/>
+          <source value="0"/>
+          <count max="100" min="100"/>
+        </requirement>
+      </requires>
+    </task>
+  </tasks>
+</data>
diff --git a/config/throttle_test/map.xml b/config/throttle_test/map.xml
new file mode 100755
index 0000000..f165073
--- /dev/null
+++ b/config/throttle_test/map.xml
@@ -0,0 +1,51 @@
+<?xml version="1.0" ?>
+<map xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <bind>
+    <task value="0"/>
+    <node value="0"/>
+  </bind>
+  <bind>
+    <task value="1"/>
+    <node value="8"/>
+  </bind>
+  <bind>
+    <task value="2"/>
+    <node value="4"/>
+  </bind>
+  <bind>
+    <task value="3"/>
+    <node value="10"/>
+  </bind>
+  <bind>
+    <task value="4"/>
+    <node value="12"/>
+  </bind>
+  <bind>
+    <task value="5"/>
+    <node value="13"/>
+  </bind>
+  <bind>
+    <task value="6"/>
+    <node value="14"/>
+  </bind>
+  <bind>
+    <task value="7"/>
+    <node value="11"/>
+  </bind>
+  <bind>
+    <task value="8"/>
+    <node value="8"/>
+  </bind>
+  <bind>
+    <task value="9"/>
+    <node value="9"/>
+  </bind>
+  <bind>
+    <task value="10"/>
+    <node value="7"/>
+  </bind>
+  <bind>
+    <task value="11"/>
+    <node value="15"/>
+  </bind>
+</map>
diff --git a/config/throttle_test/net.xml b/config/throttle_test/net.xml
new file mode 100755
index 0000000..7407f52
--- /dev/null
+++ b/config/throttle_test/net.xml
@@ -0,0 +1,879 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<network-on-chip xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="layer.xsd">
+<bufferDepthType value="single" /> <!-- single, perVC-->
+	<nodeTypes>
+		<nodeType id="0">
+			<model value="Router"/>
+			<routing value="XYZ"/>
+			<clockDelay value="1"/>
+		</nodeType>
+		<nodeType id="1">
+			<model value="ProcessingElement"/>
+			<clockDelay value="1"/>
+		</nodeType>
+	</nodeTypes>
+
+
+	<nodes>
+		<node id="0">
+			<xPos value="0.000"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="0"/>
+			<layerType value="0"/>
+		</node>
+		<node id="1">
+			<xPos value="0.000"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="1"/>
+			<layerType value="0"/>
+		</node>
+		<node id="2">
+			<xPos value="0.000"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="2"/>
+			<layerType value="0"/>
+		</node>
+		<node id="3">
+			<xPos value="0.000"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="3"/>
+			<layerType value="0"/>
+		</node>
+		<node id="4">
+			<xPos value="0.333"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="4"/>
+			<layerType value="0"/>
+		</node>
+		<node id="5">
+			<xPos value="0.333"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="5"/>
+			<layerType value="0"/>
+		</node>
+		<node id="6">
+			<xPos value="0.333"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="6"/>
+			<layerType value="0"/>
+		</node>
+		<node id="7">
+			<xPos value="0.333"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="7"/>
+			<layerType value="0"/>
+		</node>
+		<node id="8">
+			<xPos value="0.667"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="8"/>
+			<layerType value="0"/>
+		</node>
+		<node id="9">
+			<xPos value="0.667"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="9"/>
+			<layerType value="0"/>
+		</node>
+		<node id="10">
+			<xPos value="0.667"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="10"/>
+			<layerType value="0"/>
+		</node>
+		<node id="11">
+			<xPos value="0.667"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="11"/>
+			<layerType value="0"/>
+		</node>
+		<node id="12">
+			<xPos value="1.000"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="12"/>
+			<layerType value="0"/>
+		</node>
+		<node id="13">
+			<xPos value="1.000"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="13"/>
+			<layerType value="0"/>
+		</node>
+		<node id="14">
+			<xPos value="1.000"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="14"/>
+			<layerType value="0"/>
+		</node>
+		<node id="15">
+			<xPos value="1.000"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="0"/>
+			<idType value="15"/>
+			<layerType value="0"/>
+		</node>
+		<node id="16">
+			<xPos value="0.000"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="0"/>
+			<layerType value="0"/>
+		</node>
+		<node id="17">
+			<xPos value="0.000"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="1"/>
+			<layerType value="0"/>
+		</node>
+		<node id="18">
+			<xPos value="0.000"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="2"/>
+			<layerType value="0"/>
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+			<xPos value="0.000"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="3"/>
+			<layerType value="0"/>
+		</node>
+		<node id="20">
+			<xPos value="0.333"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
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+			<layerType value="0"/>
+		</node>
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+			<xPos value="0.333"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
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+			<layerType value="0"/>
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+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="6"/>
+			<layerType value="0"/>
+		</node>
+		<node id="23">
+			<xPos value="0.333"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
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+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="8"/>
+			<layerType value="0"/>
+		</node>
+		<node id="25">
+			<xPos value="0.667"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
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+			<layerType value="0"/>
+		</node>
+		<node id="26">
+			<xPos value="0.667"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="10"/>
+			<layerType value="0"/>
+		</node>
+		<node id="27">
+			<xPos value="0.667"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="11"/>
+			<layerType value="0"/>
+		</node>
+		<node id="28">
+			<xPos value="1.000"/>
+			<yPos value="0.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="12"/>
+			<layerType value="0"/>
+		</node>
+		<node id="29">
+			<xPos value="1.000"/>
+			<yPos value="0.333"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="13"/>
+			<layerType value="0"/>
+		</node>
+		<node id="30">
+			<xPos value="1.000"/>
+			<yPos value="0.667"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="14"/>
+			<layerType value="0"/>
+		</node>
+		<node id="31">
+			<xPos value="1.000"/>
+			<yPos value="1.000"/>
+			<zPos value="0.000"/>
+			<nodeType value="1"/>
+			<idType value="15"/>
+			<layerType value="0"/>
+		</node>
+	</nodes>
+
+
+	<connections>
+		<con id="0">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="0"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="16"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="1">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="0"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="1"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="2">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="0"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="4"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="3">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="1"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="17"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="4">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="1"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="2"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="5">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="1"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="5"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="6">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="2"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="18"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="7">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="2"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+				<port id ="1">
+					<node value="3"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+			</ports>
+		</con>
+		<con id="8">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="2"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+					<node value="6"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+			<interface value="0"/>
+			<ports>
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+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+			<ports>
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+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+		</con>
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+			<interface value="0"/>
+			<ports>
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+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
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+					<node value="26"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="29">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="10"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="11"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="30">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="10"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="14"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="31">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="11"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="27"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="32">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="11"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="15"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="33">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="12"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="28"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="34">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="12"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="13"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="35">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="13"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="29"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="36">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="13"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="14"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="37">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="14"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="30"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="38">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="14"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="15"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+		<con id="39">
+			<interface value="0"/>
+			<ports>
+				<port id ="0">
+					<node value="15"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+				<port id ="1">
+					<node value="31"/>
+					<bufferDepth value="8"/>
+					<vcCount value="8"/>
+				</port>
+			</ports>
+		</con>
+	</connections>
+</network-on-chip>
diff --git a/src/networkInterface/NetworkInterfaceTlm.cpp b/src/networkInterface/NetworkInterfaceTlm.cpp
index a71b41c..ec57717 100755
--- a/src/networkInterface/NetworkInterfaceTlm.cpp
+++ b/src/networkInterface/NetworkInterfaceTlm.cpp
@@ -313,7 +313,7 @@ void NetworkInterfaceTlm::init_peq_cb(tlm_gp& trans, const tlm::tlm_phase& phase
     log_info("Init PEQ callback start for packet "+to_string(p_id));
     log_info("Phase "+string(phase.get_name())+" received");
     if (phase == tlm::END_REQ) {
-        update_credits(trans, 1);
+        //update_credits(trans, 1);
         curr_req = 0;
         if(p_id == -1){
             // Config msg transaction ended, so packet can be scheduled for deletion
@@ -507,7 +507,7 @@ void NetworkInterfaceTlm::send_response(tlm_gp& trans){
 
     tlm::tlm_sync_enum status = (*target[0])->nb_transport_bw(
                                     trans, bw_phase, delay);
-    update_credits(trans, -1);
+    //update_credits(trans, -1);
 
     if (status == tlm::TLM_UPDATED){
       target_peq.notify(trans, bw_phase, delay);
diff --git a/src/networkManager/NetworkManager.cpp b/src/networkManager/NetworkManager.cpp
index c1fa379..727fb3f 100755
--- a/src/networkManager/NetworkManager.cpp
+++ b/src/networkManager/NetworkManager.cpp
@@ -55,7 +55,6 @@ void NetworkManager::createTrafficPool() {
     get_max_pos(max_pos);
     // divided by num of layers (assuming equal number of nodes in each layer)
     unsigned long numOfPEs = globalResources.nodes.size() / (max_pos[2]+1);
-#ifndef ENABLE_NETRACE
     if (globalResources.benchmark == "task") {
         tp = std::make_unique<TaskPoolCS>();
     } else if (globalResources.benchmark == "synthetic") {
@@ -63,7 +62,6 @@ void NetworkManager::createTrafficPool() {
     } else {
         FATAL("Please specify correct benchmark type");
     }
-#endif
     tp->processingElements.resize(numOfPEs);
 }
 
diff --git a/src/router/router.cpp b/src/router/router.cpp
index 7a554fa..73b31e9 100755
--- a/src/router/router.cpp
+++ b/src/router/router.cpp
@@ -54,10 +54,10 @@ void TlmRouter::initialize(){
 
         valid_links[link] = false;
         resp_in_progress[link] = false;
-        nxt_resp_pend[link] = 0;
-        nxt_send_data_pend[link] = 0;
+        //nxt_resp_pend[link] = 0;
+        //nxt_send_data_pend[link] = 0;
         curr_req[link] = 0;
-        send_data_in_prog_dest[link] = Direction::invalid;
+        //send_data_in_prog_dest[link] = Direction::invalid;
         credit_counter[link] = NUM_CREDITS;
     }
 }
@@ -98,8 +98,8 @@ void TlmRouter::send_begin_req(int link, tlm_gp& trans, int dest_link){
                                 *new_trans, phase, delay);
     curr_req[dest_link] = new_trans;
     credit_counter[dest_link]--;
-    log_info(link, trans, 
-            "credits value updated: " + to_string(credit_counter[dest_link]));
+    log_info(link, trans, "credits value updated on link " + DIR::toString(dest_link) +
+                          ": " + to_string(credit_counter[dest_link]));
     // react to result
     if(status == TLM_UPDATED) {
         init_peq.notify(*new_trans, phase, delay);
@@ -109,8 +109,8 @@ void TlmRouter::send_begin_req(int link, tlm_gp& trans, int dest_link){
         curr_req[dest_link] = 0;
         check_transaction(link, *new_trans);
         credit_counter[dest_link]++;
-        log_info(link, trans, 
-                "credits value updated: " + to_string(credit_counter[dest_link]));
+        log_info(link, trans, "credits value updated on link " + DIR::toString(dest_link) +
+                              ": " + to_string(credit_counter[dest_link]));
         new_trans->release();
     }
 }
@@ -121,6 +121,12 @@ bool TlmRouter::send_data(int link, int dest_link, tlm_gp& trans){
     // check credits or that previous message is complete
     if (credit_counter[dest_link] > 0){
         send_begin_req(link, trans, dest_link);
+        // send response or add it to queue
+        if(resp_in_progress[link]) {
+            nxt_resp_pend[link].push(&trans);
+        }
+        else{ send_begin_response(link, trans); }
+
         return true;
     }
     else {
@@ -146,7 +152,6 @@ void TlmRouter::check_transaction(int link, tlm_gp& trans) {
     stream << hex << adr << " check, cmd=" << (cmd ? 'W' : 'R')
                          << ", data=" << hex << *ptr;
     log_info(link,trans, stream.str());
-    // Allow the memory manager to free the transaction object
     trans.release();
 }
 
@@ -177,12 +182,12 @@ void TlmRouter::init_peq_cb(tlm_gp& trans, const tlm_phase& phase){
     int link = get_link_from_extension(trans);
     log_info(link,trans, "Initiator PEQ callback start");
     log_info(link,trans, "Phase "+string(phase.get_name())+" received");
-    if (phase == END_REQ || (&trans == curr_req[link] && 
-                                    phase == BEGIN_RESP)){
+    if (phase == END_REQ || (&trans == curr_req[link] && phase == BEGIN_RESP)){
         curr_req[link] = 0;
-        credit_counter[link]++;
-        log_info(link, trans, 
-                "credits value updated: " + to_string(credit_counter[link]));
+        /*credit_counter[link]++;
+        log_info(link, trans, "credits value updated on link " + DIR::toString(link) +
+                ": " + to_string(credit_counter[link]));*/
+        log_info(link, trans, "Issuing next request");
         start_pend_req(link, trans);
     }
     else if (phase == BEGIN_REQ || phase == END_RESP){
@@ -190,7 +195,9 @@ void TlmRouter::init_peq_cb(tlm_gp& trans, const tlm_phase& phase){
     }
 
     if (phase == BEGIN_RESP) {
-        check_transaction(link, trans);
+        credit_counter[link]++;
+        log_info(link, trans, "credits value updated on link " + DIR::toString(link) +
+                ": " + to_string(credit_counter[link]));
         send_end_response(link, trans);
     }
 }
@@ -198,20 +205,20 @@ void TlmRouter::init_peq_cb(tlm_gp& trans, const tlm_phase& phase){
 
 void TlmRouter::start_pend_req(int rel_link, tlm_gp& trans){
     // find pending link
-    Direction pending_link = Direction::invalid;
     for(uint8_t dir=0; dir<Direction::num_dirs; dir++){
-        // check pending link valid and send data
-        if(send_data_in_prog_dest[dir] == rel_link){
-            pending_link = Direction(dir);
-            bool data_sent = send_data(pending_link, rel_link, 
-                *nxt_send_data_pend[pending_link]);
-            if (!data_sent){
-                log_error(pending_link, trans,
-                    "Credit counter was freed, but data can't be sent");
+        if( !nxt_send_data_pend[dir].empty() ){
+            // check pending link valid and send data
+            Direction rel_dest = send_data_in_prog_dest[dir].front();
+            if(rel_dest == rel_link){
+                tlm_gp* nxt_trans = nxt_send_data_pend[dir].front();
+                bool data_sent = send_data(dir, rel_link, *nxt_trans);
+                if (!data_sent){
+                    log_error(dir, trans, "Credit counter was freed, but data can't be sent");
+                }
+                send_data_in_prog_dest[dir].pop();
+                nxt_send_data_pend[dir].pop();
+                break;
             }
-            nxt_send_data_pend[pending_link] = 0;
-            send_data_in_prog_dest[dir] = Direction::invalid;
-            break;
         }
     }
 }
@@ -255,14 +262,15 @@ void TlmRouter::target_peq_cb(tlm_gp& trans, const tlm_phase& phase){
         case END_RESP:
             if (!resp_in_progress[link]){
                 log_warn(link,trans,
-                "Illegal transaction phase END_RESP received by target");
+                    "Illegal transaction phase END_RESP received by target");
             }
-            trans.release();
+            check_transaction(link, trans);
             // Target itself is now clear to issue the next BEGIN_RESP
             resp_in_progress[link] = false;
-            if (nxt_resp_pend[link]){
-                send_begin_response(link, *nxt_resp_pend[link]);
-                nxt_resp_pend[link] = 0;
+            if ( !nxt_resp_pend[link].empty() ){
+                log_info(link, trans, "Issuing next response");
+                send_begin_response(link, *nxt_resp_pend[link].front());
+                nxt_resp_pend[link].pop();
             }
             break;
         case END_REQ:
@@ -332,23 +340,9 @@ void TlmRouter::switching(int link, tlm_gp& trans){
     }
     // validate pending data sent
     if (!data_sent) {
-        if(nxt_send_data_pend[link]) {
-            log_error(link,trans,
-            "Attempt to have two pending data send in same destination");
-        }
-        nxt_send_data_pend[link] = &trans;
-        send_data_in_prog_dest[link] = destination;
+        nxt_send_data_pend[link].push(&trans);
+        send_data_in_prog_dest[link].push(destination);
     }
-    // validate pending response
-    if(resp_in_progress[link]) {
-        //TODO: Make sure that there is always only one transaction per link
-        if(nxt_resp_pend[link]){
-            log_error(link,trans,
-                "Attempt to have two pending responses in target");
-        }
-        nxt_resp_pend[link] = &trans;
-    }
-    else{ send_begin_response(link, trans); }
 }
 
 
diff --git a/src/router/router.h b/src/router/router.h
index 19b31d3..51d6272 100755
--- a/src/router/router.h
+++ b/src/router/router.h
@@ -27,6 +27,7 @@
 
 #include <systemc>
 #include <string>
+#include <queue>
 
 #include "tlm.h"
 #include "tlm_utils/simple_initiator_socket.h"
@@ -60,12 +61,12 @@ class TlmRouter : public sc_module{
         peq_with_cb_and_phase<TlmRouter> init_peq;
         peq_with_cb_and_phase<TlmRouter> target_peq;
         tlm_gp* curr_req[NUM_LINKS];
-        tlm_gp* nxt_resp_pend[NUM_LINKS];
-        tlm_gp* nxt_send_data_pend[NUM_LINKS];
         MemoryManager m_mm;
-        bool resp_in_progress[NUM_LINKS];
         int credit_counter[NUM_LINKS];
-        Dir send_data_in_prog_dest[NUM_LINKS];
+        bool resp_in_progress[NUM_LINKS];
+        queue<tlm_gp*> nxt_resp_pend[NUM_LINKS];
+        queue<tlm_gp*> nxt_send_data_pend[NUM_LINKS];
+        queue<Dir> send_data_in_prog_dest[NUM_LINKS];
 
         // attributes
         string router_name;
diff --git a/src/router/router_cs.cpp b/src/router/router_cs.cpp
index b5a3f8e..d310bfe 100755
--- a/src/router/router_cs.cpp
+++ b/src/router/router_cs.cpp
@@ -35,7 +35,7 @@ void TlmRouterCS::initialize(){
     TlmRouter::initialize();
     cout<<"Inherited function called";
     for(int link=0; link<NUM_LINKS; link++){
-        credit_counter[link] = NUM_CREDITS_CS;
+        //credit_counter[link] = NUM_CREDITS_CS;
         auto_rout_map[link] = Direction::invalid;
     }
 }
@@ -63,17 +63,17 @@ void TlmRouterCS::send_begin_req(int link, tlm_gp& trans, int dest_link){
     status = (*init_socket[dest_link])->nb_transport_fw(
                                 *new_trans, phase, delay);
     curr_req[dest_link] = new_trans;
-    credit_counter[dest_link]--;
-    log_info(link, trans, 
-            "credits value updated: " + to_string(credit_counter[link]));
+    //credit_counter[dest_link]--;
+    /*log_info(link, trans, 
+            "credits value updated: " + to_string(credit_counter[link]));*/
     // react to result
     if(status == TLM_COMPLETED) {
         log_error(link, trans, "Request completed prematurely");
         curr_req[dest_link] = 0;
         check_transaction(link, *new_trans);
-        credit_counter[dest_link]++;
-        log_info(link, trans, 
-                "credits value updated: " + to_string(credit_counter[dest_link]));
+        //credit_counter[dest_link]++;
+        /*log_info(link, trans, 
+                "credits value updated: " + to_string(credit_counter[dest_link]));*/
         new_trans->release();
     }
 }
diff --git a/src/utils/configuration.h b/src/utils/configuration.h
index 5172a1a..064c9a7 100755
--- a/src/utils/configuration.h
+++ b/src/utils/configuration.h
@@ -34,10 +34,10 @@ using namespace sc_dt;
 // router paremters
 #define NUM_CREDITS     7
 // router delays
-#define REQ_INIT_DELAY       20
-#define REQ_END_DELAY        20
-#define INTERN_PROC_DELAY    20
-#define RESP_END_DELAY       20
+#define REQ_INIT_DELAY       10
+#define REQ_END_DELAY        10
+#define INTERN_PROC_DELAY    100
+#define RESP_END_DELAY       10
 #define UNITS_DELAY          SC_NS
 
 // types
diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp
index 50d0f3d..b7f5a30 100755
--- a/src/utils/utils.cpp
+++ b/src/utils/utils.cpp
@@ -51,12 +51,15 @@ void get_max_pos(uint8_t max_pos[3]){
     vector<float> gr_pos[3];
     get_pos_distances(dists, gr_pos);
 
-    max_pos[0] = 1+round(max_element(gr_pos[0].begin(), 
-                                   gr_pos[0].end())[0]/dists[0]);
-    max_pos[1] = 1+round(max_element(gr_pos[1].begin(), 
-                                   gr_pos[1].end())[0]/dists[1]);
-    max_pos[2] = 1+round(max_element(gr_pos[2].begin(), 
-                                   gr_pos[2].end())[0]/dists[2]);
+    max_pos[0] = dists[0] != 0 ? 
+                    1+round(max_element(gr_pos[0].begin(), gr_pos[0].end())[0]/dists[0]) 
+                    : 1;
+    max_pos[1] = dists[1] != 0 ?
+                    1+round(max_element(gr_pos[1].begin(),gr_pos[1].end())[0]/dists[1])
+                    : 1;
+    max_pos[2] = dists[2] != 0 ?
+                    1+round(max_element(gr_pos[2].begin(), gr_pos[2].end())[0]/dists[2])
+                    : 1;
 }
 
 string get_type_name(dataTypeID_t id){