Problem: Designing clean architectures to solve an unfamiliar class of systems programming problems This goes beyond design patterns - I mean designing systems

Problem: Designing clean architectures to solve an unfamiliar class of systems programming problems This goes beyond design patterns - I mean designing systems with a dozen or more components that interact in complex ways. My first few cuts have lots of rough edges, and as I redesign the system, cleaner solutions appear. I work on lots of almost-real-time robotics systems, and good solutions for normal apps have subtle-yet-fatal problems when you need a small average latency at 100% CPU load