This article is an overview of Scrum and XP. Roles There are three main roles in Scrum. Each of it has some special responsibility. Product…

Rotation of a body in space can be represented with a unit rotation vector (axis) and an angle of rotation around this axis. The angular…

This page collects my notes about the Cortex-M3 architecture. In particular I use the EFM32TG840F32 processor on a STK3300 starter kit by…

This page contains notes about the usual stack frame layout (calling convention) on ARM processors. Most information is taken from ARM…

Arrays are simple but quite powerful constructs in C/C++. They are merely a representation of consecutive data in memory. They don’t contain…

Keys Command Description - artist-mode Start artist mode C-c C-c artist-mode-off End artist mode C-c ^ Move (and draw) up (north) C-c…

Right-handed (Rechtshändiges) Cartesian coordinate system. Axes: : width, red : depth, green : height, blue Mesh: vertices (3D points…

Boot Sequence 1. ROM Code Runs directly after power up Provided by chip manufacturer Can usually only access SRAM (no DRAM) Capable of…

Functions : Create socket descriptor : Associate socket with a local IP address and port : Put connection-oriented socket in waiting mode…

Joints Every joint connects exactly two links. A joint: provides freedoms to allow one rigid body to move relative to another. provides…

There are 2 concepts that are called closure Lambdas Closures are (anonymous) functions with free variables that capture the context of the…

Serial Peripheral Interface (SPI) serial full-duplex master-slave (one master, multiple slaves) 4 wires: SCLK: Serial Clock (output from…

Analogies Rotations Rigid-Body Motions Rotation Matrix Homogeneous Tranformation Matrix Rotation Axis Screw Axis Angular Velocity Twist…

Imaginary Unit The imaginary number is defined: it is often named instead of . But this can be confused with the electrical current…

This page is work in progress “Halving the size of the problem at each step is the distinguishing characteristic of logarithmic growth” SICP…

Core Requirements to OOP Languages Highly dynamic execution model Cooperating program parts with well defined interfaces Classification…

Ordinary Differential Equation Mathematical description of physical system State-space representation Matrix form () Used in Modern Control…

Ordinary Differential Equation For homogeneous () linear error dynamics: Using coupled first order ODE’s defining where: The ODE can be…

useful in spaces that have dimensions Euclidian spaces Discrete euclidian spaces (i.e vectors of integers, vector of bools) … Points are…

This page is still work in progress No Exceptions (-fno-exception) What do std functions that throw exeptions What happens with library…

From: Smart Pointers to boost your code unique ownership copying prevented use to transfer ownership const prevents transfer can’t be used…

DH - Parameters Serial-link manipulator Links are rigid Joints connect links can move revolute or prismatic Every link connects 2 joints…

Overview of Design Patterns Creational Patterns Structural Patterns Behavioral Patterns Other Patterns Abstract Factory Adapter Chain of…

Distant Functions A distant function works on two elements (i.e. vectors, sets…). A given distance function needs to fulfill properties…

See also: Docker Documentation. Setup Start the daemon (on Fedora): Start the daemon on boot (on Fedora): Run as user: First create a…

Introduction Domain Driven Design (DDD) is a set of methodologies, tools and patterns that help to develop complex software systems. The…

Creating a dynamic model of a system involves multiple steps. Identify objective for simulation what do we want to accomplish define which…

An eigenvector of a linear transformation is a vector (non-zero) that, when the linear transformation is applied to it, changes by only a…

This page is work in progress AC Motors High power, single- or multi-phase, constant torque and speed, large loads DC Motors Normal DC…

The endianness means the representation of a variable (if it is bigger than one byte) in the memory. Big-Endian: Most Significant Byte (MSB…

Enums in C and C++ are a very simple construct. It’s just a collection of identifiers that have (usually) distinctive values. By default the…

See also: Wikipedia: Evaluation strategy Applicative order evaluation (eager evaluation) All arguments to procedures are evaluated when…

Most information of this page is taken from Calling conventions for different C++ compilers and operating systems. Some other good…

Every displacement of a rigid body can be expressed as a displacement along a fixed screw axis (Chasles-Mozzi theorem). Exponential…

Some information on this page is taken from here (German). Process Control Block (PCB) Contains the information about a process. C struct…

This article is work in progress Present Value (Barwert): value of expected income stream as of the valuation date (i.e. present). Concept…

Sometimes also referred to as the First-Order Plus Time Delay model. It’s often used to model the dynamic behavior of systems. where: : The…

There are multiple flash storage options for embedded devices. NOR Flash can be mapped directly int address space code can be directly…

The goal of a Free-Body diagram is to identify all the forces acting on an object and then to draw a diagram for that system. Divide the…

This page contains some random notes for FreeRTOS. See also: FreeRtosExamples and FreeRtos Configuration The configuration of the kernel is…

Work in Progress! ld Flags If the linker is called through the compler the linker flags need to be added with . : Symbols are resolved at…

Diese Notizen sind grösstenteils inspiriert von: “Atomic Habits” - James Clear Nicht auf Motivation setzen! Manchmal hilft Motivation um…

If a has to be reset to a older version this is a possible workflow. The solution is from stackoverflow First checkout the version that…

Some notes about the contents of the directory that resides in the root of a git repository. file: contains project-specific…

The command is not very easy and can be dangerous in some cases. The command does similar things. This overview is taken from the Pro Git…

Pre- and postfixes for printf and scanf There are quite a lot of functions in the and scanff amily. It might not be very clear when to use…

Planar rigid-body motions A planar rigid body motion is defined as: Where: : A real matrix representig a rigid body motion in : Rotational…

0. Overview Specification and Models of Computation State-Charts Kahn Process Networks Design Space Exploration Mapping Partitioning Multi…

On this page I write down some notes about the Intel architecture (x86). Part of the notes here are for Intel 80186. But some sections are…

Program Format Typical sections of an assembler program are: section: declaration and definition of initialized data section: declaration…

There are a lot of different calling conventions fir x86 processors. See also Wikipedia:x86 calling conventions Unix System V AMD64 ABI…

Contents Understanding Financial Markets General Introduction and Key Concepts Investment Management in a nutshell Investment management is…

Digital Audio Processing Sampling Rate and Sampling Period with: : Sampling rate in : Sampling period in Samples and Frames A frame is a…

L2-Norm A vector has the -Norm: : Dimensions : -th element of L2-Distance The -Distance between two vectors and is:

This page collects notes and citations from the book: Language Implementation Patterns by Terence Parr Some of my examples can be found here…

Vorgang Umfang/Thema definieren Lernmaterialien zusammentragen Überblick verschaffen Text überfliegen/querlesen Grafiken studieren evtl…

The different forms of Linking There are two major forms of linking: static and dynamic. But there are some subtle details in each form of…

A system call is the basic interface between applications and the kernel. Linux has more than 300 system calls. The syscalls are implemented…

Macro Tricks Stringification The operator allows to create a string out of a macro parameter. With the ‘stringize’ trick any defined…

Make can be seen as a multi-paradigm programming language. It supports at least three paradigms: Declarative Imperative Functional…

Pfaffian Constraints A Pfaffian constraint is a set of () linearly independent constraints so that: Where: : derivative of with respect…

When a process is started the operating system allocates memory for this process. On modern systems this memory is usually mapped to an…

Panels Keys Function Swap panels Switch listing mode (full, brief, long …) Show current directory in other panel (synchronize) Toggle…

Boolean Circuits AND/OR/NOT gates Gate: function Inputs: arguments to function In-/Outputs: wires Circuits: combination of gates Truth table…

Part I. Techniques Policy-Based Class Design The Benefit of Templates “Templates are a good candidate for coping with combinatorial…

This page collects some notes about different Operating System approaches. Most of the information gathered here is from the course Advanced…

Motivation Information Systems Design Conceptual Design -> Technical Design -> Implementation Orthogonal Persistence Data has to outlive the…

Most information of this page is taken from Calling conventions for different C++ compilers and operating systems. Overview Object Format…

This page collects just some random, incomplete information about ODBC and PostgreSQL on Linux. Tools : Command line tool to access the…

General Use Coding conventions Keep it simple, stupid (KISS) Boy Scout Rule: “Always leave the campground cleaner than you found it…

Most material on this page is from Udacity: Programming Languages Lexical Analysis (Lexing): String -> Token List Syntatical Analysis…

Die Pomodoro-Technik ist eine simple Methode für das persönliche Zeitmanagement. Anstehende Aufgaben werden in kleine Einheiten aufgeteilt…

This page is work in progress Position Position of point relative to point : In 3D space positions are represented by vectors It is…

Notes taken from: Practical C++ Metaprogramming Edouard Alligand and Joel Falcou O’Reilly Media, Inc. My repository with examples on Github…

Preprocessor Defines This page lists commonly used preprocessor defines for C/C++ Programming Language Language Define C++ C 99 Compiler…

This shows a basic use for QEMU. See also QEMU Documentation QEMU can emulate different processor architectures: : ARM : MIPS : PowerPC : x…

Quaternions are an extension to the real numbers. They have some similarities with Complex Numbers. The Quaternions are denoted with the…

See also the Python Standard Library Documentation My Repository on GitHub Metacharacters Twelve Metacharacters: Backslash Caret Dollar…

This article is work in progress. Conceptual Design => Technical Design => Implementation Actors, Personas Mock-ups (for non-engineer) Paper…

Axis-Angle Representation of Rotation An alternative representation to rotation matrices is the axis-angle representation in the form: Where…

Currently I’m using Melodic Morenia. There is -completion for almost everything Load ROS Environment For Bash: or Zsh: Commands Command…

This page is work in progress Rotation The configuration of a point is fully described by a position, bodies additionally require a rotation…

Read-Modify-Write Compare-And-Swap Todo Load-Link/Store-Conditional This works: But this fails: Test and Set Pseudo code: Reset: Generic RWM…

Sanitizers Address Sanitizer (and Leak Sanitizer) Compile and link with the flag It might be necessary to link with with older gcc/ld…

This page collects notes about Scheme (an Lisp in general). Sources Most information is taken from: Structure and Interpretation of Computer…

Pairs (, and ) : Construct a pair : Get first element of pair (or list) : Get second element of pair (or rest of list) Lists : create a…

Screw A rigid body can be moved from one position to any other by rotation around a line (vector) and translation along that line. This is…

Some notes on what to do to setup a new machine for my development projects. Linux Install: with package manager: Editor: code/codium (Snap…

This page collects notes taken from Seven Concurrency Models in Seven Weeks When Threads Unravel by Paul Butcher Some of my examples are…

Notes to the book Structure and Interpretation of Computer Programs, Second Edition Harold Abelson, Gerald Jay Sussman, Julie Sussman MIT…

A skew-symmetric matrix has the property: or expressed differently: It can be formed from a vector as For real valued skew-symmetric…

Cyber Resilience Act (CRA): Ensure cybersecurity for software products in the EU market. General Data Protection Regulation (GDPR, DSGVO…

This page is still work in progress When developping software the priorities are as following: correctness maintainability efficiency…

The Single Responsibility Principle (SRP) A class (function, module…) should have only one reason to change. A responsibility is “a reason…

Space Topology Euclidian space: or Sphere: Torus: () is the -dimensional Euclidian space, the -dimensional surface of a sphere and is…

Dependency Injection and Inversion of Control The Spring IoC container needs to know which beans to create for Dependency Injection. Define…

Most notes taken here are from the Udacity SQL course and PostgreSQL Essentials: Leveling Up Your Data Work by Haki Benita. Aggregations…

Differential Equation of a Dynamic System Causality: Only causal systems can be realized Relative Degree: State-Space Representation…

“The purpose of an expression is to be evaluated to produce another expression; a statement, on the other hand, is evaluated to make some…

This article is still work in progress! The notes on this page are taken from: Udacity: Intro to Statistics. Packt: Statistics for Data…

There is a good documentaion at cppreference.com General Use only for legacy code and debugging Use explicit casts ( and ) only when…

My Notes for the System Construction Course at ETH Minos on Raspberry PI 2 (Case Study 1) ARM A7 The ARM Architecture is not the same thing…

SystemC is a system-level modeling language. It’s implemented as a C++ library. The library is open source and platform independent. It…

This is a brief history of Test Driven Development. Kent Beck claimed to have rediscovered the concept of Test Driven Development. 1968 Alan…

Test are written for getting confidence about the software. There are a lot of kinds of feedback that give confidence about the system…

Prefix Key The prefix key combination needs to be pressed before any command for tmux (when tmux is running). By default the is: Sessions…

Toolchains The GNU toolchain consists of these components: Binutils: Assembler, linker, (ld) and other tools GCC: Compilers for C, C…

Linear and Angular (Spacial) Velocities Given a transformation matrix that represents the configuration as seen from the spacial velocity…

There is an extensive time zones database maintained by IANA: tz database Informations about time zones supported by the systems are found…

This page collects notes and citations from the book: Understanding Computation by Tom Stuart I. Programs and Machines “To create an…

Device files provide access to drivers through files. They are listed under . There are two kinds of device drivers (as shown with…

Linux See also the Filesystem Hierarchy Standard. Directory Content Essential commands and programs for all users System binaries: mainly…

File Access Permissions (POSIX) Additional Bits Three additional bits with special meanings are available: (4): Change the of the process…

Contains user informations. The information fields are separated by a colon. : The name that the user needs to log in. : Usually the entry…

Some notes about Vector Calculus. Mainly Divergence, Gradient and Curl. Nabla Operator () For a 3-dimensional cartesian coordinate system…

Modes Key Mode Insert at current cursor position Insert at beginning of line Insert after current cursor position Insert at end of line…

Some notes how to visualize mathematical functions. Domain and Range Input space: domain Output space: range or codomain Graphs (single…

A linear force acting on a rigid body at point creates a torque (moment) that can be represented in a reference frame as: With: : Torque…

Allgemeines Bereiche Ziele Übersicht Prioritäten Plan Motivation Ziele Realisierare Ziele Kurz-, mittel- und langfristige Ziele Wo will ich…