eSlider
df78a7c5db
Replace object-store replication with rsync over persistent multiplexed SSH (ed25519, pinned known_hosts, forced commands as the only remote API); demote GraphQL to the ground integration standard. Add DuckDB spatial extension for separation audits, perimeter predicates and trajectory analysis in the local planar frame.
68 lines
5.4 KiB
Markdown
68 lines
5.4 KiB
Markdown
# 00 — Glossary
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Terms and abbreviations used throughout this proposal.
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## Data & storage
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| Term | Meaning |
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| --- | --- |
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| **Parquet** | Columnar file format; compresses time series extremely well (ZSTD + delta encoding), supports predicate pushdown |
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| **Hive partitioning** | Directory layout `key=value/…` understood by most engines; enables partition pruning (only relevant directories are read) |
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| **DuckDB** | In-process analytical SQL engine; queries Parquet globs directly, no server to operate |
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| **ZSTD** | Zstandard compression; the default codec for all Parquet files here |
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| **DWH** | Data warehouse — here: the on-prem ground store holding every flight ever flown |
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| **Hot / warm / cold tiers** | Storage floors ordered by access latency and retention: in-memory window → local NVMe → ground warehouse |
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| **Sealing** | Compacting many small streamed Parquet files into one final file per partition once a time window closes |
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| **UUIDv7** | Time-ordered UUID; sortable by creation time, used as the canonical flight identifier |
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| **DuckDB spatial** | Extension adding a GEOMETRY type and `ST_*` functions; used for separation audits, perimeter predicates, and trajectory analysis in the local planar frame |
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| **Schema registry** | Versioned catalog of dataset schemas so producers and consumers can evolve independently |
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| **ETL** | Extract, transform, load — the pipelines that move and reshape data between tiers |
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## Swarm & robotics
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| Term | Meaning |
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| --- | --- |
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| **UAV / UGV / USV / UUV** | Unmanned aerial / ground / surface / underwater vehicle |
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| **Swarm** | Group of autonomous vehicles coordinating without a central controller |
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| **Sustainable pulsing** | Swarm ability to repeatedly engage a target area from multiple directions and self-reorganize as conditions evolve |
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| **Ubiquitous sensing** | The swarm acting as one distributed sensor, fusing local observations into shared situational awareness ("top sight") |
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| **Man-in-the-loop** | A human supervises intent and boundaries but does not steer individual vehicles |
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| **GPS-denied** | Operating without satellite positioning; position comes from visual odometry and relative localization |
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| **Visual odometry** | Estimating a vehicle's motion from its own camera stream |
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| **ROS 2** | Robot Operating System 2 — the de-facto middleware for robotics software; nodes exchange typed messages over topics |
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| **DDS** | Data Distribution Service — the default ROS 2 transport middleware |
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| **Zenoh** | Pub/sub + query protocol designed for constrained, dynamic networks; official ROS 2 RMW implementation exists |
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| **YOLO-like detector** | Family of single-pass object-detection models; the on-board video service runs one of them, weights are swappable |
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| **IMU** | Inertial measurement unit — accelerometer + gyroscope (+ magnetometer) |
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| **LiDAR** | Laser-based distance sensing |
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| **RSSI** | Received signal strength indicator; Wi-Fi signal strength, usable as a coarse relative-positioning signal |
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| **C2** | Command and control — the narrow channel that delivers mission intent to the swarm |
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## Infrastructure & delivery
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| Term | Meaning |
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| --- | --- |
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| **Air-gapped** | No route to the internet, physically or logically |
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| **On-prem** | Runs on owned hardware; no public cloud involvement |
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| **Zero trust** | No implicit trust from network position; every peer authenticates with pre-provisioned credentials |
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| **mTLS** | Mutual TLS — both sides of a connection present certificates |
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| **ed25519** | Modern elliptic-curve signature scheme; the SSH key type provisioned per device and per operation |
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| **Forced command** | `command="…"` restriction in `authorized_keys`: the key can execute exactly one predefined operation — the key *is* the API |
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| **ControlMaster** | SSH connection multiplexing: one persistent authenticated session carries many transfers/commands |
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| **PKI** | Public key infrastructure — the certificate authority hierarchy behind mTLS |
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| **WireGuard** | Lightweight encrypted tunnel protocol; basis for the swarm mesh overlay |
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| **Ad-hoc mesh** | Wireless network formed directly between peers, no fixed infrastructure |
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| **Docker Compose** | Declarative multi-container runtime; the only orchestrator on board a drone |
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| **k3s** | Lightweight Kubernetes distribution; used on the ground only |
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| **Dev Container** | Reproducible containerized development environment definition |
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| **MinIO** | S3-compatible object store; runs on-board for derived data and on the ground as the warehouse backend |
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| **Registry mirror** | Local copy of a container registry inside the air gap; drones pull images from it |
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| **OTA** | Over-the-air update — delivered before a mission while docked, never mid-flight |
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| **Fleet release manifest** | A versioned lockfile pinning every artifact (image digests, model weights, schemas, configs) that defines one fleet version |
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| **SemVer** | Semantic versioning (`MAJOR.MINOR.PATCH`) applied to every artifact and to the fleet manifest itself |
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| **Trivy** | Open-source scanner for container images and dependencies |
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| **SonarQube** | Static code-quality and security analysis platform |
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| **nvidia-container-toolkit** | Runtime hook exposing GPUs to containers; needed for on-board inference |
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| **HIL** | Hardware-in-the-loop testing — real flight hardware wired into a simulated environment |
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| **CRDT** | Conflict-free replicated data type; merges concurrent updates without coordination |
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