anchor.diff:  * Mac Mini 2014, i7-3720QM @ 2.6 GHz, 16 GB 1600 MHz DDR3
   * Gigabyte Brix BXi7-4770R, i7-4770R @ 3.2 GHz, 16 GB 1600 MHz DDR3
   
  -[TODO]
  +[NOTE]
   ====
   the paragraphs below were moved from above. make them match this section
   ====
  
positive.code: |*Scientific Linux 6.6-rt*   |79.753.643 |0.08 ms|0.01 |0.15 ms |7
  |========
  
  [TODO]
  ====
  Dave: I think it would be really effective to have a figure show histograms of the actual distributions along with the classic ‘bell-curve’ gaussian with the parameters from your table. 
  ====
  
negative.code: 
  I've tried to provide a basic idea of the out of the box performance of various off the shelf operating systems. In my experience the three major consumer OS can be treated relatively equal, i.e., either software will work fine on all of them, or won't work on any of them. If you do work on a problem that does have hard deadlines, there are many different link:https://en.wikipedia.org/wiki/Comparison_of_real-time_operating_systems[RTOS] to choose from. Aside from the mentioned real-time Linux and the various embedded solutions, there are even real-time extensions for Windows, e.g., link:http://www.tenasys.com/overview-ifw[INtime] or link:http://kithara.com/en/products/realtime-suite[Kithara].
  
  [NOTE]
  ====
  Dave: I might move the following paragraph up to the intro.  And add a sentence saying that what we advocate is finding ways to soften the requirements of hard-realtime comms for robotic systems.  For us a big part of it is engineering a modular low-level block that does RT control, but we still care a lot about understanding and measuring latency details at the high level.
  ====
  