# Posts

### Articles

- Matrix Calculus Notation · Discussing the ‘matrix derivative’ in formal settings.
- QP and Least Squares · Analyzing the relationship between QP and least squares.
- Reading Spatial Transforms · Ways to interpret homogeneous (rigid-body) transform.
- A Tour of Robot Mechanics · Broad glide over robot kinematics and dynamics.
- Defining a Robot · Attempt to answer “What is a robot?” in a prescriptive manner.

### Projects

- Convex Analysis & Optimization: Select Works · Collection of interesting problems with my proofs and solutions.
- Numerical Analysis & Implementation: 1D PDE · Numerical linear algebraic solution of a time–dependent wave PDE.
- Finite Element Analysis & Implementation: 1D PDE · Designing and optimizing a finite element solution to a 1D PDE.
- Inverse Problems for Disturbance Observer Control · Regularization and optimization applied to DOB control.
- Time-Domain Robot Control Simulations · Simulating observers, torque control, and adaptive control.
- CAD Model: MicroGuard Design · Concept model for a security system.