Plug-in Based Software Architecture for Robotics
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-contained0 码力 | 75 页 | 2.40 MB | 5 月前3Building API server-side architecture for Beginners
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 business0 码力 | 38 页 | 690.29 KB | 1 年前3The RISC-V Reader: An Open Architecture AtlasFirst Edition, 1.0.0 - 2021
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, University0 码力 | 232 页 | 5.16 MB | 1 年前3High-Performance Cross-Platform Architecture: C++20 Innovations
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. • Features0 码力 | 75 页 | 581.83 KB | 5 月前3Symbolic Calculus for High-Performance Computing: From Scratch Using C++23
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 Construction0 码力 | 70 页 | 1.80 MB | 5 月前3openEuler OS Technical Whitepaper Innovation Projects (June, 2023)
Supply Chain 005 Community-certified openEuler Distributions 006 openEuler Open Source OS Architecture 007 3 Scenario-specific Innovations 008 Server 009 DPUDirect 009 eNFS 011 HPCRunner OpenHarmony, achieving ecosystem interoperability through shared capabilities. With a unified OS architecture supporting all mainstream computing architectures, openEuler is one of the best open source Lego-style architecture, making it ideal for servers, cloud computing, edge computing, and embedded systems. This white paper aims to provide a comprehensive overview of openEuler's architecture and its0 码力 | 116 页 | 3.16 MB | 1 年前3MITRE Defense Agile Acquisition Guide - Mar 2014
development of the architecture precede sprint development. Alternatively, a program can initially use a traditional approach to build the initial increment that meets the baseline architecture requirements deliverables (e.g., code)? Is there a clear owner of the program (or broader enterprise) architecture? Is there a clear, early commitment from user representatives and the broader user base? enterprise architectures, frameworks, standards, or interfaces? Can the development team access architecture documents and systems? Are owners/representatives from these enterprise areas involved in0 码力 | 74 页 | 3.57 MB | 5 月前3PyTorch Release Notes
corresponds to GPUs in the NVIDIA Pascal, NVIDIA Volta™, NVIDIA Turing™, NVIDIA Ampere architecture, and NVIDIA Hopper™ architecture families. For a list of GPUs to which this compute capability corresponds, see was published by the authors of the Transformer-XL paper. Our implementation uses modified model architecture hyperparameters, our modifications were made to achieve better hardware usage and to take advantage corresponds to GPUs in the NVIDIA Pascal, NVIDIA Volta™, NVIDIA Turing™, NVIDIA Ampere architecture, and NVIDIA Hopper™ architecture families. For a list of GPUs to which this compute capability corresponds, see0 码力 | 365 页 | 2.94 MB | 1 年前3《Efficient Deep Learning Book》[EDL] Chapter 7 - Automation
The next section dives into the search for neural architectures. Neural Architecture Search On a high level, Neural Architecture Search (NAS) is similar to Hyperparameter Search. In both cases, we search define the architecture of the model that represents the blackbox function. In the hyperparameter tuning project, we searched for the value of dropout_rate which influences the model architecture. In fact the hyperparameters to be known prior to the start of the search. In their paper titled "Neural Architecture Search With Reinforcement Learning"5, Zoph et. al. employed neural networks to search for optimal0 码力 | 33 页 | 2.48 MB | 1 年前3Just-in-Time Compilation - J F Bastien - CppCon 2020
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, performing0 码力 | 111 页 | 3.98 MB | 5 月前3
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