Have you ever heard of FreeBSD? Probably.
Have you ever interacted with its kernel? Probably not.
In this talk, Gili Yankovitch (nyxsecuritysolutions.com) will talk about the FreeBSD operating system, its network stack and how to write network drivers for it.
The talk will cover the following topics:
* Kernel/User interation in FreeBSD
* The FreeBSD Network Stack
* Network Buffers API
* L2 and L3 Hooking
High-Performance Networking Using eBPF, XDP, and io_uringScyllaDB
In the networking world there are a number of ways to increase performance over naive use of basic Berkeley sockets. These techniques have ranged from polling blocking sockets, non-blocking sockets controlled by Epoll, all the way through completely bypassing the Linux kernel for maximum network performance where you talk directly to the network interface card by using something like DPDK or Netmap. All these tools have their place, and generally occupy a space from convenience to performance. But in recent years, that landscape has changed massively.. The tools available to the average Linux systems developer have improved from the creation of io_uring, to the expansion of bpf from a simple filtering language to a full-on programming environment embedded directly in the kernel. Along with that came something called XDP (express datapath). This was Linux kernel's answer to kernel-bypass networking. AF_XDP is the new socket type created by this feature, and generally works very similarly to something like DPDK. History lessons out of the way, this talk will look into, and discuss the merits of this technology, it's place in the broader ecosystem and how it can be used to attain the highest level of performance possible. This talk will dive into crucial details, such as how AF_XDP works, how it can be integrated into a larger system and finally more advanced topics such as request sharding/load balancing. There will be detailed look at the design of AF_XDP, the eBpf code used, as well as the userspace code required to drive it all. It will also include performance numbers from this setup compared to regular kernel networking. And most importantly how to put all this together to handle as much data as possible on a single modern multi-core system.
Have you ever heard of FreeBSD? Probably.
Have you ever interacted with its kernel? Probably not.
In this talk, Gili Yankovitch (nyxsecuritysolutions.com) will talk about the FreeBSD operating system, its network stack and how to write network drivers for it.
The talk will cover the following topics:
* Kernel/User interation in FreeBSD
* The FreeBSD Network Stack
* Network Buffers API
* L2 and L3 Hooking
High-Performance Networking Using eBPF, XDP, and io_uringScyllaDB
In the networking world there are a number of ways to increase performance over naive use of basic Berkeley sockets. These techniques have ranged from polling blocking sockets, non-blocking sockets controlled by Epoll, all the way through completely bypassing the Linux kernel for maximum network performance where you talk directly to the network interface card by using something like DPDK or Netmap. All these tools have their place, and generally occupy a space from convenience to performance. But in recent years, that landscape has changed massively.. The tools available to the average Linux systems developer have improved from the creation of io_uring, to the expansion of bpf from a simple filtering language to a full-on programming environment embedded directly in the kernel. Along with that came something called XDP (express datapath). This was Linux kernel's answer to kernel-bypass networking. AF_XDP is the new socket type created by this feature, and generally works very similarly to something like DPDK. History lessons out of the way, this talk will look into, and discuss the merits of this technology, it's place in the broader ecosystem and how it can be used to attain the highest level of performance possible. This talk will dive into crucial details, such as how AF_XDP works, how it can be integrated into a larger system and finally more advanced topics such as request sharding/load balancing. There will be detailed look at the design of AF_XDP, the eBpf code used, as well as the userspace code required to drive it all. It will also include performance numbers from this setup compared to regular kernel networking. And most importantly how to put all this together to handle as much data as possible on a single modern multi-core system.
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matchingharmonylab
公開URL:https://arxiv.org/pdf/2404.19174
出典:Guilherme Potje, Felipe Cadar, Andre Araujo, Renato Martins, Erickson R. ascimento: XFeat: Accelerated Features for Lightweight Image Matching, Proceedings of the 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2023)
概要:リソース効率に優れた特徴点マッチングのための軽量なアーキテクチャ「XFeat(Accelerated Features)」を提案します。手法は、局所的な特徴点の検出、抽出、マッチングのための畳み込みニューラルネットワークの基本的な設計を再検討します。特に、リソースが限られたデバイス向けに迅速かつ堅牢なアルゴリズムが必要とされるため、解像度を可能な限り高く保ちながら、ネットワークのチャネル数を制限します。さらに、スパース下でのマッチングを選択できる設計となっており、ナビゲーションやARなどのアプリケーションに適しています。XFeatは、高速かつ同等以上の精度を実現し、一般的なラップトップのCPU上でリアルタイムで動作します。
5. SE はいらない!の図
今、一般的なカードエミュレー
ション
HCE を使ったカードエミュレー
ション
Android device
Android device
Host CPU
NFC
Controller
NFC Reader
Host CPU
Secure
Element
NFC
Controller
Secure
Element
NFC Reader
※Secure Element を使わないので、Secure Element 非対応端末でもカードエミュレーションが出来
る
※一般的に管理が厳格な Secure Element と異なり、誰でもカードアプリを作成できる
5