Angular Pacman


An implementation of Pacman using AngularJS. Try playing it!

Recurrent Neural Nets


Recurrent nets are a type of neural network specialized to address information stored in the order in which inputs are passed in. Applications include video captioning, time-series analysis, and natural language processing.

The Max Pool Layer


Though a Max Pool layer does no learning of its own, it frequently improves the performance of a convolutional net by leaps and bounds, making it both faster and more accurate.

Convolutional Neural Nets


In this post, we’ll explore Convolutional Neural Networks. These are a type of neural net specifically designed for images, and other inputs with a logical $2$-dimensional structure.

Neural Networks


An overview of the simplest feedforward neural network, and the basic concepts behind it.

Dynamics and Control of Quadcopter via Quaternions and Lagrangian EOMs


In this project, I derive the mathematical model for the X-configuration quadcopter via Lagrangian Equations of motion and quaternions. I then implement a feedback controller to stabilize the quadcopter attitude with respect to user-inputs.

Dynamics of a Quadcopter via Euler Rotations and Lagrangian EOMs


In this post, I derive the dynamics of a quadcopter in the t-configuration via the Lagrangian equations of motion, while describing the quadcopter attitude via 3-1-3 Euler angles.

Logistic Regression Overview


Logistic regression is the method of generating logistic functions as discriminating models between two classes. This post will explore the math that leads up to this technique.

Attitude Emulation with Gyroscope and Accelerometer


In this project, I calculate quaternion parameters from accelerometer readings and gyroscope readings. The quaternion parameters are then passed through a simple complementary filter. Upon obtaining the parameters of this rotation formalism, the orientation of the sensor platform (in this case, a quadcopter) is emulated on screen.

Angular Velocities and Euler Angles


In this post, we’ll derive the relationship between an object’s angular velocity, and its $3$-$1$-$3$ Euler Angles.

A Quick Overview of 3-1-3 Euler Angles


Euler Angles are one of what are known as Rotation Formalisms. It’s a way to express how rotated a particular object is, in relation to the fixed Inertial coordinates – typically of the earth. Its appeal stems from its simplicity and intuitive derivation.

2D Rotations and Transformations


In physics and engineering, we need a way to mathematically express how an object is oriented. Which way is it pointing? Or how rotated is it? In this post, we’ll go over the mathematical formalities of expressing and manipulating an object’s orientation on a 2-dimensional plane.