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As I mentioned in my first article on this blog, I’m now using Hugo, the static site generator to build my personal website. Due to the needs of my work environment (mostly because I need to use MS Word and certain MATLAB features on a regular basis), I’ve been primarily using Windows as my operating system for the past year or so. Having used Linux for a long time, I definitely missed the conveniences offered by shell scripting and other command line tools.

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This article contains spoilers for all the episodes of Star Trek: Discovery. As a lover of good science fiction I was really happy to hear the announcement of Star Trek: Discovery. I have not watched all of old Star Trek. But from the few that I have watched (Mostly Star Trek: Then Next Generation), I have come to love the Trek universe and the way it handles science fiction.

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I’ve been spending a lot of time working with inertial measurement units recently and am discovering the surprising amount of mathematics that goes into using data from accelerometers and gyroscopes to get the orientation of an object in 3D space. The story begins with me trying to integrate an angular velocity vector (in 3D) to get the orientation of an object. Angular velocity is a vector but common representations of orientation (like Euler Angles) are not.

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When prototyping programs that deal with lots of data on an Arduino and other embedded systems or even on full blown computers, it’s really useful to have a quick tool for plotting the output of the program. Initially, I used python for doing this. Python is a beautifully simple language and between Numpy, Scipy and Matplotlib, you can do pretty much anything you want with data; from doing simple plotting to running machine learning algorithms on the data.

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