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Robotics
robot-middleware
robot middleware
ROS 2
System
Techniques · 12
Primitives · 57
robot-middleware
Clock synchronization
distributed · medium: Estimate a clock's offset from four timestamps, filter out queueing noise, and steer the clock smoothly; NTP gets about a millisecond, PTP with hardware timestamps under a microsecond.
›
Deterministic simulation testing
distributed · medium: Run the whole system in one thread under a seeded scheduler with simulated network, disk and clock, so every failure replays from its seed.
›
Primary-backup replication
distributed · medium: One node orders all writes and ships them to standbys; the acknowledgement rule (none, one, all) sets what a crash loses, and an external arbiter decides who takes over.
›
Data distribution service
networking · medium: DDS/RTPS publish-subscribe with discovery, QoS policies (reliability, history, deadline)
Transform tree
robotics · medium: Time-indexed tree of coordinate frames with interpolated lookups between any two frames
Coverage-guided fuzzing
security · medium: Mutate inputs, run an instrumented target, and keep any input that reaches a new code edge; feedback turns blind guessing into incremental search.
›
Point-in-time recovery
storage · medium: Periodic base backups plus a continuously archived change log let you rebuild the state as of any instant, then branch from there.
›
Rigid-body transforms (SE(3) poses)
robotics · low: Represent, compose, invert, integrate and interpolate 3D poses as unit quaternion plus translation, with exp/log maps for small motions and uncertainty.
›
Zstandard (zstd)
compression · low: LZ77 plus Huffman and FSE entropy coding, with levels from LZ4-like speed to xz-like ratio, all decoding at about 1-2 GB/s.
›
Shared memory ipc
concurrency · low: Shared memory rings and futex signalling between processes
Hdr histogram
data-structures · low: Log-linear bucketed histograms with bounded relative error for latency percentiles
SPSC ring buffer
data-structures · low: Bounded wait-free queue for exactly one producer and one consumer thread, built from an array and two indices with acquire/release ordering.
›
Real time linux scheduling
embedded · low: PREEMPT_RT, SCHED_FIFO/DEADLINE, CPU isolation and mlockall for low-jitter loops
Reliable UDP
game-networking · low: Transport over UDP: each packet carries a sequence number, an ack and a 32-bit ack history; only chosen messages are made reliable.
›
Process supervision
hardware-os · low: A parent process starts services, reaps their exits and restarts them under a delay and burst-limit policy, then stops them with SIGTERM before SIGKILL.
›
epoll event loop
networking · low: One thread waits on thousands of non-blocking sockets with epoll_wait and handles only ready ones; the core of nginx, Redis and tokio.
›
Length-prefix framing
networking · low: Split a byte stream (TCP, TLS, pipes) into messages by writing each message's length before it; O(1) boundary detection with no escaping.
›
Zero-copy serialization
networking · low: Wire formats laid out like in-memory structs (FlatBuffers, Cap'n Proto, SBE, rkyv) so readers access fields in place with no decode pass or allocation.
›
Mutual TLS
security · low: TLS where the client also proves a certificate key, so every connection carries a verified, rotatable machine identity.
›
Arena allocator
systems · low: Allocate by bumping a pointer through big chunks and free everything at once: a few instructions per allocation for objects sharing a lifetime.
›
Graceful draining
systems · low: On a termination signal, stop taking new work, finish in-flight work until a deadline, tell clients to reconnect elsewhere, then exit; clients resume from a token.
›
Hierarchical state machine
systems · low: Nest states so a substate inherits its parent's reactions and only overrides what differs, with ordered entry and exit actions along the path.
›
PID controller
robotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.
›
+ 5 more techniques
+ 41 more primitives
System
Techniques · 12
Primitives · 57
robot-middleware
Clock synchronization
distributed · medium: Estimate a clock's offset from four timestamps, filter out queueing noise, and steer the clock smoothly; NTP gets about a millisecond, PTP with hardware timestamps under a microsecond.
›
Deterministic simulation testing
distributed · medium: Run the whole system in one thread under a seeded scheduler with simulated network, disk and clock, so every failure replays from its seed.
›
Primary-backup replication
distributed · medium: One node orders all writes and ships them to standbys; the acknowledgement rule (none, one, all) sets what a crash loses, and an external arbiter decides who takes over.
›
Data distribution service
networking · medium: DDS/RTPS publish-subscribe with discovery, QoS policies (reliability, history, deadline)
Transform tree
robotics · medium: Time-indexed tree of coordinate frames with interpolated lookups between any two frames
Coverage-guided fuzzing
security · medium: Mutate inputs, run an instrumented target, and keep any input that reaches a new code edge; feedback turns blind guessing into incremental search.
›
Point-in-time recovery
storage · medium: Periodic base backups plus a continuously archived change log let you rebuild the state as of any instant, then branch from there.
›
Delta debugging
compilers · medium: Ddmin minimization of failing inputs or change sets
Fault injection
distributed · medium: Inject latency, errors, kills and partitions via proxies, netem or hooks
ARIES recovery
storage · medium: Three-pass crash recovery (analysis, redo, undo) for steal/no-force buffer pools; repeats history, then rolls back losers with compensation log records.
›
Syscall interception
security · medium: Intercept syscalls via ptrace, seccomp user notify or a user-space kernel
Buffer pool
storage · medium: The database's own page cache (frames, page table, pin counts, dirty bits, replacement) so it, not the OS, controls eviction, write order and I/O.
›
Rigid-body transforms (SE(3) poses)
robotics · low: Represent, compose, invert, integrate and interpolate 3D poses as unit quaternion plus translation, with exp/log maps for small motions and uncertainty.
›
Zstandard (zstd)
compression · low: LZ77 plus Huffman and FSE entropy coding, with levels from LZ4-like speed to xz-like ratio, all decoding at about 1-2 GB/s.
›
Shared memory ipc
concurrency · low: Shared memory rings and futex signalling between processes
Hdr histogram
data-structures · low: Log-linear bucketed histograms with bounded relative error for latency percentiles
SPSC ring buffer
data-structures · low: Bounded wait-free queue for exactly one producer and one consumer thread, built from an array and two indices with acquire/release ordering.
›
Real time linux scheduling
embedded · low: PREEMPT_RT, SCHED_FIFO/DEADLINE, CPU isolation and mlockall for low-jitter loops
Reliable UDP
game-networking · low: Transport over UDP: each packet carries a sequence number, an ack and a 32-bit ack history; only chosen messages are made reliable.
›
Process supervision
hardware-os · low: A parent process starts services, reaps their exits and restarts them under a delay and burst-limit policy, then stops them with SIGTERM before SIGKILL.
›
epoll event loop
networking · low: One thread waits on thousands of non-blocking sockets with epoll_wait and handles only ready ones; the core of nginx, Redis and tokio.
›
Length-prefix framing
networking · low: Split a byte stream (TCP, TLS, pipes) into messages by writing each message's length before it; O(1) boundary detection with no escaping.
›
Zero-copy serialization
networking · low: Wire formats laid out like in-memory structs (FlatBuffers, Cap'n Proto, SBE, rkyv) so readers access fields in place with no decode pass or allocation.
›
Mutual TLS
security · low: TLS where the client also proves a certificate key, so every connection carries a verified, rotatable machine identity.
›
Arena allocator
systems · low: Allocate by bumping a pointer through big chunks and free everything at once: a few instructions per allocation for objects sharing a lifetime.
›
Graceful draining
systems · low: On a termination signal, stop taking new work, finish in-flight work until a deadline, tell clients to reconnect elsewhere, then exit; clients resume from a token.
›
Hierarchical state machine
systems · low: Nest states so a substate inherits its parent's reactions and only overrides what differs, with ordered entry and exit actions along the path.
›
PID controller
robotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.
›
Phase-locked loop (digital)
signal-processing · low: Feedback loop that locks a local oscillator to the phase and frequency of an input tone; the core of carrier recovery, clock recovery and GNSS tracking.
›
Robust statistics
statistics · low: Location and scale estimates (median, MAD, trimmed mean, Huber M-estimator) that stay correct when a minority of the data is garbage.
›
Cooperative scheduling
concurrency · low: Green threads/coroutines yielding at await points on a user-space scheduler
Record replay
distributed · low: Record every nondeterministic input (time, randomness, I/O, model and tool outputs, per-tick player input) and re-execute deterministically for debugging, replays and state rebuild
PRNGs (PCG, xoshiro)
numerics · low: Small, fast, statistically strong non-cryptographic generators: PCG32 and xoshiro256**, with seeding, parallel streams and unbiased ranges.
›
Leases
distributed · low: A lock that expires on its own: bounded-time ownership that survives crashes and partitions, given bounded clock drift and fencing tokens on writes.
›
Write-ahead log
storage · low: Append each change to a checksummed sequential log and fsync it before touching data pages; the basis of crash durability in nearly every database.
›
Health checking
systems · low: Decide per backend whether to route to it using probes and real-traffic errors, with consecutive-count hysteresis, capped ejection and a panic fallback.
›
Message sequence numbers
distributed · low: A per-stream counter on every message lets the receiver detect loss, duplicates and reordering, ack cheaply and resume after reconnect with "send from N".
›
IP multicast
networking · low: Send each datagram once to a class D group address; the network copies it to every joined receiver, and sequence numbers let receivers find loss.
›
Selective repeat arq
networking · low: Selective-repeat ARQ with windows, status reports and in-order reassembly
Quaternion rotations
geometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.
›
Lowest common ancestor
graphs · low: LCA/merge-base computation in trees and DAGs
Spline interpolation
numerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tables
Code coverage instrumentation
compilers · low: Insert counters into compiled code to record which blocks, edges or lines ran; a spanning tree of the control-flow graph cuts the counters needed.
›
Fast hash functions
data-structures · low: Non-cryptographic hashes built from 64×64→128-bit multiplies and xor-shifts; pick by key size, trust level and whether the hash is persisted.
›
Sanitizers
security · low: ASan/UBSan/TSan shadow memory and instrumentation to catch memory bugs
Object storage
cloud · low: S3-compatible blob storage at cents per GB-month with 11 nines durability; pick by egress price, request price and latency, not by storage price alone.
›
Copy on write snapshots
storage · low: Point-in-time snapshots by sharing pages/extents and copying only on write
Failure bisection
search-sort · low: Binary search over commits, batches or inputs to isolate a failure
Transparent interception
networking · low: Redirect traffic to a local proxy (iptables TPROXY/REDIRECT, eBPF) without app changes
Ebpf
hardware-os · low: Verified in-kernel programs on hooks (kprobes, XDP, tc) with maps
Ptrace process control
hardware-os · low: Ptrace: attach, read and write registers and memory, single-step, intercept signals
Seccomp bpf
security · low: Syscall filtering with seccomp BPF programs
fsync, O_DSYNC and O_DIRECT
hardware-os · low: What fsync, fdatasync, O_DSYNC, O_DIRECT and F_FULLFSYNC really guarantee on Linux and macOS, and the exact call sequences for crash-safe files.
›
LRU and CLOCK
systems · low: LRU evicts the least recently used entry via hash map plus linked list; CLOCK approximates it with a reference bit, so hits take no lock.
›
S3-FIFO
systems · low: Three FIFO queues (small, main, ghost) that evict one-hit wonders quickly and keep reused objects; low miss ratios with no list moves on hits.
›
Control-flow graph
compilers · low: Split a linear instruction list into basic blocks and connect them by jumps; the graph every optimizer, SSA builder and dataflow pass walks.
›
False sharing
concurrency · low: Independent variables written by different cores on one cache line force the line to bounce between cores; pad or regroup hot data to fix it.
›
Memory ordering
concurrency · low: What Relaxed, Acquire, Release and SeqCst atomics actually guarantee, what they cost on x86 and ARM, and which one each pattern needs.
›
d-ary heap
data-structures · low: Array heap with d children per node (d = 4 typical): half the binary heap's depth, siblings in one cache line, faster priority queues.
›
Fencing tokens
distributed · low: A number that grows with every lock grant and is checked by the protected resource, so a paused ex-holder's late write is rejected.
›
Bitstream serialization
game-networking · low: A bit writer and reader over a byte buffer that stores each field in exactly the bits its range needs: booleans in 1 bit, bounded integers in ceil(log2(span+1)) bits.
›
Homogeneous transforms
geometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matrices
BFS and DFS
graphs · low: The two basic graph traversals; BFS gives hop distances and levels, DFS gives discovery/finish order for cycles, components and topological order.
›
Minimum spanning tree
graphs · low: Cheapest set of edges connecting all vertices; Kruskal sorts edges and joins components with union-find, Prim grows one tree, Boruvka merges in parallel rounds.
›
Union-find
graphs · low: Disjoint-set forest with union by size and path compression; merges sets and answers same-set queries in effectively constant time.
›
CPU caches and the memory hierarchy
hardware-os · low: Sizes, line widths and latencies of L1/L2/L3/DRAM on modern x86 and Apple M-series, and the data-layout rules that follow from them.
›
CRC32C checksums
hardware-os · low: The Castagnoli CRC-32 with dedicated instructions on x86 (SSE4.2) and ARMv8. It is the standard fast integrity check for storage blocks, logs and network frames.
›
SIMD programming
hardware-os · low: Process 4-16 lanes per instruction with AVX2, AVX-512 or NEON via Rust std::arch, with runtime dispatch and a portable fallback.
›
Sparse matrices (CSR)
numerics · low: Compressed sparse row stores only nonzeros as row pointers, column indices and values; SpMV streams them once, so it is memory-bandwidth bound.
›
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