Plug-in Based Software Architecture for Robotics ## ABISHALINI SIVARAMAN PICKNIK 2023 October 01 - 06 ## Outline • What is plugin architecture? • Why use plugin architecture? • Designing a simplified simplified plugin architecture - Library used in robotics to implement plugin based system ☐ Pluginlib - Case study for plugin architecture - MoveIt • Limitations Summary ## I ntroduction • Abi Sivaraman [Image](/uploads/documents/4/2/2/e/422e094fa995dd3cf101c1d47a782e50/p3_1.jpg) ## What is plugin architecture? Software Design Pattern that allows for developers to add functionality to a larger system without

Building API server-side architecture for Beginners GopherCon 2019 2019.07.27 - @hgsgtk © 2012-2019 BASE, Inc. ## Talk abstract • A practical approach to build server-side architecture in a Go project • of building architecture for beginners 2 Approach to build architecture 3 Summary ## Talk structure ## 1 Problem of building architecture for beginners 2 Approach to build architecture 3 Summary ## ## Why I need server-side architecture 1. Keep a design easy to change - > Separate external input/output and business logic 2. Reach common understanding of implementation policies in a team •

uptake in many different computing sectors. The book also contains many insights about computer architecture in general, as well as explaining the particular design choices we made in creating RISC-V. I 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

## +24 ## High-Performance Cross-Platform Architecture: C++20 Innovations ## NOAH STEIN ## About Me • 35-year career in video games and embedded software • Started using C++ in 1995 • First cross-platform cross-platform project in 1994 ## Cross-Platform Architecture Goals • Take advantage of all platforms • Focus on the compiler • Minimize boilerplate and unnecessary code • Minimize redundant code • Minimize occurs ## • Strong OCP • No previous code is modified in any way • Nothing is recompiled ## Architecture Guidelines • Very close to Bertrand Meyer’s original vision • Not OOP, data and functions separate

support for ClickHouse deployments ○ Software (Kubernetes, cluster manager, tools & utilities) ☐ POCs/Training ## What is Kubernetes? ## “Kubernetes is the new Linux” Actually it’s an open-source ClickHouse on Kubernetes? Other applications are already there Easier to manage than deployment on hosts Bring up data warehouses quickly Portability ## I s it easy to run ClickHouse on Kubernetes? ## NOT REALLY ## Challenges running ClickHouse on Kubernetes? 1. Provisioning 2. Persistence 3. Networking 4. Transparency ALTINITY CLICKHOUSE OPERATOR for Kubernetes ## The ClickHouse operator turns complex

## Altinity ## ClickHouse on Kubernetes! Alexander Zaitsev, Altinity Limassol, May 7th 2019 ## Altinity Background ● Premier provider of software and services for ClickHouse • Incorporated in UK with Offerings: ☐ 24x7 support for ClickHouse deployments ○ Software (Kubernetes, cluster manager, tools & utilities) ☐ POCs/Training ## “Kubernetes is the new Linux” Actually it’s an open-source platform to: [Image](/uploads/documents/2/1/8/d/218d81a74f32d5934a3e909a7234c6df/p3_1.jpg) ## Why run ClickHouse on Kubernetes? 1. Other applications are already there 2. Portability 3. Bring up data warehouses quickly

# Kubernetes 入門 ### 1.1 Kubernetes 是什麼？ Kubernetes 是什麼？ 首先，它是一個全新的基於容器技術的分散式架構解決方案。這個方案雖然還很新，但它是 Google 十幾年來大規模應用容器技術的經驗累積和演進的一個重要成果。確切地說，Kubernetes 是 Google 嚴格保密十幾年的秘密武器——Borg 的開源專案版本。Borg 是 Google 的內部設計，所以外界一直無法瞭解它的相關資訊。直到 2015 年 4 月，傳聞許久的 Borg 論文伴隨著 Kubernetes 的發布宣傳被 Google 首度公開，大家才得以瞭解它的更多內幕。正因站在 Borg 這個前輩的肩勝上，吸取了 Borg 過去十年間的經驗與教訓，所以 Kubernetes 一經開源就一鳴驚人，並迅速席捲了容器技術領域。  圖 1.3 Kubernetes 部署架構圖 #### 1.3.1 建立 redis-master Pod 及服務 我們可以先定義 Service，然後再定義一個 RC 來建立和控制相對應的 Pod，或者先定義 RC 來建立 Pod，然後定義與其關聯的 Service，這兩種方式最終的結果都一樣，這裡我們採用後面這種方式。

## Автоматизация управления ClickHouse-кластерами в Kubernetes Владислав Клименко и Валерий Панов HighLoad Siberia 2019 Профессиональная конференция для разработчиков высоконагруженных систем THE ClickHouse в Kubernetes? • Все компоненты системы уже в к8s. • Максимальная унификация управления. • Нужно быстро строить хранилища данных. • Нужна максимальная переносимость. ## ClickHouse в Kubernetes – это ClickHouse + Kubernetes ## ClickHouse в Kubernetes? Что будем делать?  ALTINITY CLICKHOUSE OPERATOR for Kubernetes HighLoad

## Serverless Kubernetes: Container in Cloud Native Way 阿里云容器服务团队 张维 KUBECON CHINA 2018 ## 应用部署演化：Going native with cloud ## Serverless Computing | |Azure Container Instances|![ Cloud Serverless Kubernetes|阿里云|2018.5|Y| ### Serverless Kubernetes vs. 传统Kubernetes集群 经典Kubernetes容器服务 - 按照集群节点数量付费 Serverless Kubernetes容器服务 - 按照应用使用资源付费 - 无需管理服务器节点 经典Kubernetes集群 容器调度与编排 容器调度与编排

Transparent Encryption for Kubernetes  ## 挑戰：保護 Kubernetes 環境的應用程式安全 Kubernetes 是用於部署和管理這些容器的開源軟體。使用 Kubernetes 可以更快地交付、部署和管理容器化 ## 解决方案：CipherTrust Transparent Encryption for Kubernetes CipherTrust Transparent Encryption for Kubernetes 提供用於加密、存取控制和資料存取日誌記錄的容器内核功能，使企業能夠對Kubernetes環境中的資料建立堅實穩固的防護。透過 CipherTrust Transparent Encryption 經過容器存取的外部儲存資料，都統一經由 CipherTrust Manager 集中管理。 ## 優勢 CipherTrust Transparent Encryption for Kubernetes 效益有： • 合規性 – CipherTrust Transparent Encryption 的這項擴充，解決了保護機敏資料的合規要求與法規命令，例如支付卡、健康照護紀錄或者其他機敏資產。