Posts

Cartpole Dynamics and Control

Introduction As is the case for a lot of PhDs, my main work focuses on a small part of robotics. There are many areas of robotics that I would love to work on but do not.
Apr 21, 2019 9 min read

Learning Haskell Through Google Code Jam

I try to solve Google Code Jam Problems using Haskell.
Apr 13, 2019 13 min read

The Witcher 3: Wild Hunt - A Review

The Witcher 3 follows the story of Geralt of Rivia, a Witcher or monster slayer in search of his adoptive daugter Cirllia. (well it’s not his story but we see the story through his eyes!
Sep 16, 2018 7 min read

Hugo Web Development Workflow on Windows

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.
Dec 31, 2017 4 min read

My Review of Star Trek: Discovery

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.
Dec 10, 2017 5 min read

How to Integrate Quaternions

I’ve been working with inertial measurement units lately, and I’ve come to realize that there’s a surprising amount of mathematics involved in processing the raw data from the sensors. The story begins with me trying to integrate a three-dimensional angular velocity vector to get the orientation of an object.
Sep 10, 2017 16 min read

Bash Recipes for Doing Science!

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.
Aug 13, 2017 7 min read

Programming Complex Dataflows in C

Over the past few months I’ve been spending a lot of time on implementing various signal processing algorithms in C/C++. Things like Kalman Filters, various types of FIR filters and finite state machines.
Aug 1, 2017 9 min read

ICRA 2017

The IEEE International Conference on Robotics and Automation (ICRA) that happened in Singapore over the last week is often referred to as the robotics conference. If you’re an academic working in the field of robotics, Singapore was the place to be in the last week.
Jun 5, 2017 6 min read

Real-Time Programming with Xenomai 3 - Part 2: Writing a simple periodic task.

I walk you through writing a simple cyclic task in Xenomai.
May 20, 2017 6 min read