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 •

ShardingSphere-JDBC 1.1.2 ShardingSphere-Proxy 1.1.3 ShardingSphere-Sidecar(TODO) 1.1.4 Hybrid Architecture 1.2 Solution 1.3 Roadmap 2 Quick Start 2.1 ShardingSphere-JDBC 2.1.1 Import Maven Dependency ..... 14 3.3.2 Challenges ..... 14 3.3.3 Goal ..... 15 3.3.4 Notice ..... 15 3.4 Pluggable Architecture ..... 15 3.4.1 Background ..... 15 3.4.2 Challenges ..... 15 3.4.3 Goal ..... 15 Switching Phase ..... 278 7.5 Encryption ..... 278 7.5.1 Process Details ..... 278 Overall Architecture ..... 279 Encryption Rule ..... 279 Encryption Process ..... 281 7.5.2 Detailed Solution

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

ShardingSphere-JDBC 1.1.2 ShardingSphere-Proxy 1.1.3 ShardingSphere-Sidecar(TODO) 1.1.4 Hybrid Architecture 1.2 Features 1.2.1 Data Sharding 1.2.2 Distributed Transaction 1.2.3 Database Governance 97 SCTL Syntax ..... 97 3.8.6 Usage ..... 98 TODO ..... 98 Sharding ..... 98 3.9 Pluggable Architecture ..... 99 3.9.1 Background ..... 99 3.9.2 Challenges ..... 99 3.9.3 Goal ..... 99 focus on its increment instead of a total overturn. Apache ShardingSphere begin to focus on pluggable architecture from version 5.x, features can be embedded into project flexibility. Currently, the features

ShardingSphere-JDBC 1.1.2 ShardingSphere-Proxy 1.1.3 ShardingSphere-Sidecar(TODO) 1.1.4 Hybrid Architecture 1.2 Solution 1.3 Roadmap 2 Quick Start 2.1 ShardingSphere-JDBC 2.1.1 Import Maven Dependency ..... 14 3.3.2 Challenges ..... 14 3.3.3 Goal ..... 15 3.3.4 Notice ..... 15 3.4 Pluggable Architecture ..... 15 3.4.1 Background ..... 15 3.4.2 Challenges ..... 15 3.4.3 Goal ..... 15 Incremental Phase 268 Switching Phase 268 7.4 Encryption 268 7.4.1 Process Details 268 Overall Architecture 269 Encryption Rule 269 Encryption Process 271 7.4.2 Detailed Solution 272 New Business

• Our DevOps Expectations ## • Kubernetes Capabilities/Advantages to Build DevOps Solution • Architecture and Features • CRD and operator design • Pipeline / Stage/ Task / Task Template / Version Control Our DevOps Expectations • Kubernetes Capabilities and Advantages to Build DevOps Solution • Architecture and Features • CRD and operator design • Pipeline/Stage/Task/Task Template/Version Control/UI high availability • Extensibility/Integration • CI/CD examples ## • Future plan ## Overall Architecture Scheduling customization kubelet can do image GC Kubernetes Cluster Kubernetes Cluster

4 Key Concepts 17 5 Tutorials 71 6 Operations Guides 157 7 Commands Reference 207 8 Architecture Reference 253 9 Frequently Asked Questions 287 10 Contributions Welcome! 293 11 Glossary nearly 200 developers since its earliest commits. Fabric has a highly modular and configurable architecture, enabling innovation, versatility and optimization for a broad range of industry use cases including handling disputes. One of the most important of the platform’s differentiators is its support for pluggable consensus protocols that enable the platform to be more effectively customized to fit particular

co-location • Co-location @ Alibaba • Kubernetes vs YARN • Kubernetes & YARN: a hybrid architecture • Resource Isolation • Future ## What/Why co-location ## Data center Avg utilization  ## resource