Outline ● What is plugin architecture? ● Why use plugin architecture? ● Designing a simplified plugin architecture ● Library used in robotics to implement plugin based system ○ Pluginlib ● Case study study for plugin architecture - MoveIt ● Limitations ● Summary 2Introduction •Abi Sivaraman •Robotics Engineer at PickNik Robotics •I work with robotic arms •MoveIt Maintainer 3What is plugin plugin architecture? Software Design Pattern that allows for developers to add functionality to a larger system without having to alter the source code of the system itself. Plug-ins are self-contained

API server-side architecture for Beginners GopherCon ���� ����.��.�� - @hgsgtk © ����-���� BASE, Inc. � Talk abstract • A practical approach to build server-side architecture in a Go project � Problem of building architecture for beginners � Approach to build architecture � Summary � Talk structure © ����-���� BASE, Inc. � Problem of building architecture for beginners � Approach Approach to build architecture � Summary � Talk structure © ����-���� BASE, Inc. � Why I need server-side architecture �.Keep a design easy to change • -> Separate external input/output and business

uptake in many different computing sectors. The book also contains many insights about computer architecture in general, as well as explaining the particular de- sign choices we made in creating RISC-V. the point, and complete. The book’s commentaries provide a gratuitous history, motivation, and architecture critique. —C. Gordon Bell, Microsoft and designer of the Digital PDP-11 and VAX-11 instruction handy little book effortlessly summarizes all the essential elements of the RISC-V Instruction Set Architecture, a perfect reference guide for students and practitioners alike. —Professor Randy Katz, University

embedded software • Started using C++ in 1995 • First cross-platform project in 1994Cross-Platform Architecture Goals • Take advantage of all platforms • Focus on the compiler • Minimize boilerplate and unnecessary requiring implementations that differ depending upon the target machine architecture. • Features may be hardware: CPU architecture, SIMD instruction set, DMA controller, GPIO module, etc. • Features

Introduction The lambda trick Comparison Binding Constraints Architecture Substitution Construction Conclusion Symbolic Calculus for High-Performance Computing from Scratch using C++23 Vincent Reverdy Binding Constraints Architecture Substitution Construction Conclusion Table of contents 1 Introduction 2 The lambda trick 3 Comparison 4 Binding 5 Constraints 6 Architecture 7 Substitution 8 Construction Comparison Binding Constraints Architecture Substitution Construction Conclusion Introduction 1 Introduction 2 The lambda trick 3 Comparison 4 Binding 5 Constraints 6 Architecture 7 Substitution 8 Construction

programs that are entirely JiT’ed, even though the JiT itself has to be compiled to the target architecture.4. Interpreters have access to run-time information, such as input parameters, control flow into the kernel, safely.Exokernel An Operating System Architecture for Application-Level Resource Management In the exokernel architecture, a small kernel securely exports all hardware resources native executable machine code for one architecture on another architecture. Dynamic binary translation: execute the program from one Instruction Set Architecture in another (or the same) ISA, performing

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated is saved. Note: Conan generates a default profile with your detected settings (OS, compiler, architecture...) and that configu- ration is printed at the top of every conan install command. However, it

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated is saved. Note: Conan generates a default profile with your detected settings (OS, compiler, architecture...) and that configu- ration is printed at the top of every conan install command. However, it

2 Decentralized package manager Conan is a decentralized package manager with a client-server architecture. This means that clients can fetch packages from, as well as upload packages to, different servers and compiler version, or the computer architecture. If the package is built again from the same sources but with different settings, (e.g. for a different architecture), a new, different binary will be generated is saved. Note: Conan generates a default profile with your detected settings (OS, compiler, architecture...) and that configu- ration is printed at the top of every conan install command. However, it

阴险的笑 Architecture Shell Kernel File System Applications Architecture Kernel n 内存管理 n 进程管理 n 文件系统（虚拟文件系统 VFS） n 设备驱动 n 网络接口 建议阅读Linux内核源代码，可以从Linux-0.11入手，推荐Linux内核完全注释 （赵炯著） Architecture Shell Shell，基本默认 n Korn Shell n C Shell，SUN公司Shell的BSD版本 Architecture Shell n 如果每天工作在这样的计 算机前我们肯定会比现在 更加健康 n 比现在更像一个计算机系 的学生 n 比现在更爱看书 n 比现在更爱户外活动 Architecture 高德纳（Donald Ervin Knuth）的桌面（基于FVWM的窗口系统） https://en https://en.wikipedia.org/wiki/Donald_Knuth http://www-cs-faculty.stanford.edu/~uno/ Architecture Shell Commands Command Meaning apropos Search information about a command or subject. cat Show content