Brain-Inspired Learning and Neuromorphic Computing

neuromorphic computing brain-inspired learning dynamical systems Hopfield networks Hebbian learning spiking neural networks reservoir computing state-space models contraction theory predictive coding

A dynamical-systems tour of brain-inspired learning, from neuron models and equilibria to Hopfield and firing-rate networks, local learning rules, predictive coding, reservoir computing, spiking networks, deep state-space models, contraction analysis, and neuromorphic hardware.

09 November 2026

Biology Modelling Notes

ecology evolution mathematical modelling SIR population dynamics stability bifurcation stochasticity R

Course notes on mathematical modelling in biology, built step by step from verbal hypotheses to flow diagrams, exponential and logistic growth, numerical solution, equilibria and stability, harvesting and collapse, competition and predator-prey models, functional responses, SIR epidemics, bifurcations, age-structured populations, selection, and stochastic models, with worked numbers and R code.

31 March 2026

Computational Game Theory- From Formulation to Equilibrium

game theory nash equilibrium potential games mechanism design

Course notes on game theory built up from the classic two-by-two games through dominance, Nash equilibrium, Cournot and Stackelberg competition, mixed strategies, zero-sum games, backward induction, repeated games, Bayesian games and auctions, mechanism design and VCG, the core and Shapley value, congestion and potential games, correlated equilibrium, learning dynamics, and computation, with every example worked by hand.

01 January 2026

Parallel Programming Notes (OpenMP, MPI, CUDA)

parallel computing OpenMP MPI CUDA GPU

Course notes for parallel and distributed programming, built up from summing an array in parallel to performance laws, the memory hierarchy and roofline model, threads and data races, OpenMP, MPI and domain decomposition, CUDA kernels for reduction, histograms, and tiled matrix multiplication, and parallel Gaussian elimination, with tested code and measured examples.

15 August 2025

Lie group and lie algebra for robotics

lie group matrix lie algebra robotics state estimation

Course-style notes on Lie groups and Lie algebras for robotics, starting from planar rotations and mobile-robot poses, through groups, the matrix exponential, SO(3), quaternions, SE(3), twists, the adjoint, Jacobians, Gauss-Newton on manifolds, uncertainty, error-state Kalman filtering, and camera pose estimation, with worked numerical examples.

12 August 2025

Adaptive, Optimal, Robust, and Learning Control

control theory adaptive control optimal control robust control reinforcement learning LQR MPC

Course notes for an advanced control course, built up from a one-line adaptive controller to Lyapunov and Barbalat tools, parameter estimation, MRAC, adaptive backstepping, robust modifications, observers and Kalman filtering, Pontryagin and HJB, LQR, LQG, MPC, H-infinity and mu, and reinforcement learning with safety filters, with full derivations and worked examples.

10 May 2025

Numerical Linear Algebra and Optimization Notes

numerical linear algebra optimization scientific computing

Course-style notes that build numerical linear algebra and optimization from first principles, from floating point, norms, conditioning, and stability through LU, Cholesky, QR, SVD, eigenvalue algorithms, Krylov methods, gradient and Newton methods, quasi-Newton, nonlinear least squares, KKT conditions, and stochastic optimization, each with worked numerical examples.

15 January 2025

How to Build Your Retrieval-Augmented Generation (RAG)

RAG LLM NLP information retrieval

Course-style notes on Retrieval-Augmented Generation, starting from what a language model can and cannot know, through classical information retrieval (inverted index, tf-idf, BM25), dense retrieval, evaluation metrics with worked numbers, chunking, hybrid search, reranking, prompting, advanced patterns, and operating a RAG system in practice.

01 January 2025

Category Theory for Programmers - From Composition to Monads

category theory functional programming monads functors

Reading notes for the Uppsala University Category Theory for Programmers reading group, following Milewski's book from function composition, types, and Kleisli arrows through products, functors, natural transformations, Yoneda, adjunctions, and monads, with worked Haskell examples and exercises.

31 December 2024

connect airpods in Ubuntu 22.04 LTS

bluetooth airpods ubuntu

Fix the error happened when qqmusic new installed, probably because of high resolution of screen

25 October 2024

rendering and control of Nova5 arms with robotiq 2F85 gripper within Isaac Sim 4.2

Isaac Sim Nova5 robotiq Simulation

Find a way to have graphical output from the ssh server in Windows 10 wsl2

07 October 2024

Network Science Notes

network science complex systems graph theory epidemic modeling

Personal technical notes on propagation, clustering, inference, temporal graphs, and applications to multi-robot systems.

01 October 2024

Forwarding Graphics to SSH Client in WSL2 with VcXsrv Success!

SSH WSL2

Forward the graphical output from ssh server to wsl2 in windows 10

17 September 2024

qq音乐linux报错

qqmusic linux

Fix the error happened when qqmusic new installed, probably because of high resolution of screen

03 July 2024

Indentation of Nested Expendable Sections

Markdown HTML

Implementation of nested collapsable sections with indentation, which I try to make the nested lists in posts look great.

13 June 2024

Ethical Principles

Ethics Lab

Ethics fetched from the lab manual by deleting the confidential information. It serves as an examination of the doctoral course "Research Ethics for Science and Technology," which I took in the year 2024.

13 June 2024

Motors in the Loop: Actuators, Sensors, Models, Controllers and Sensor Fusion

electric motors actuators sensors encoders sensor fusion motor control control theory embedded systems

Theory-first notes on putting a motor into a feedback loop. They cover the physics of actuators and electric machines, motor models, sensors and encoders, sampling, filters, ADCs and PWM, feedback controllers with anti-windup, estimation and sensor fusion, and then the power electronics and real-time firmware that carry the loop. The simulations and real implementations (MF2007, MF2103, MF2043, MF2030) are on the companion project page.

03 October 2023

Distributed Systems Notes

distributed systems parallel computing many-core real-time systems NoC CAN TSN

A dense exam-oriented note connecting threads, processes, many-core architecture, and real-time distributed communication.

12 May 2023

Topics in Nonlinear Systems

control theory nonlinear systems Lyapunov stability feedback linearization backstepping sliding mode ADRC fuzzy control

A nonlinear-control note centered on Lyapunov geometry, local and global behavior, gain scheduling, dynamic inversion, backstepping, sliding mode, bang-bang control, fuzzy control, and active disturbance rejection.

18 March 2023

Reinforcement Learning Notes From MDP to RLHF and MARL

reinforcement learning RLHF MARL

In-depth notes from AI foundations extended to modern deep RL, RLHF, and multi-agent reinforcement learning.

21 October 2022

Micro-Fabrication Notes for MEMS Engineers

MEMS microfabrication lithography etching deposition SOI

A practical, process-first guide to MEMS microfabrication, from wafer to released device — with process physics, worked examples, and design tradeoffs.

08 October 2022

Verilog, VLSI, and ASIC Design - From RTL to RISC-V, CISC, and ARM

verilog vlsi asic rtl digital design risc-v arm cisc computer architecture

An integrated introduction to Verilog, VLSI abstraction, ASIC design flow, and the practical meaning of RISC-V, CISC, and ARM in digital system design.

05 April 2022

Electronics Notes - Devices, Circuits, Systems, and Implementation

electronics analog digital power-electronics emc rf sensors adc dac fpga pcb packaging

A system-level electronics note linking device physics, circuit design, embedded implementation, and hardware reliability.

31 December 2021

Data Mining

data mining graph mining clustering recommender systems representation learning

Personal notes synthesized for data mining, graph mining, link analysis, clustering, and latent representations.

30 November 2021

Automation, Robotics, and Machine Vision Basics

automation robotics machine vision PLC pneumatics sensors kinematics Denavit-Hartenberg manipulator dynamics image processing design for assembly

A foundations note on automated production, from part feeding, sensing, PLC logic and pneumatics to robot kinematics, dynamics and control, and the image-processing chain of machine vision.

15 May 2021

Signals & Systems — From Time Domain to Spectral Thinking

signals systems LTI convolution Fourier Laplace Z-transform sampling filtering FIR IIR DSP stochastic processes

A course-level treatment of continuous-time and discrete-time signals and systems — covering time-domain analysis, frequency-domain transforms, analog and digital filter design, DSP implementation, and stochastic signal processing.

12 December 2020

Modern, Multivariable, and Networked Control

control theory modern control state space multivariable control networked control MPC LQG H-infinity graph theory

A merged modern-control note covering state-space modelling, controllability and observability, observers, MIMO systems, LQG and MPC, robust multivariable control, and graph-theoretic multi-agent coordination.

18 August 2020

Operations Management of Production and Service Systems

operations management factory physics little's law queueing theory lean jit kanban production systems service systems

Production and service operations notes built around flow, Little's Law, queueing, variability, bottlenecks, pull control, quality, and improvement logic.

08 August 2020

Fluid Dynamics Notes

fluid dynamics aerodynamics compressible flow thermofluids combustion

Consolidated notes on fluid mechanics and aerodynamics, organized around conservation laws, regimes, boundary layers, pipes, lift, compressibility, shocks, nozzles, and validation.

08 August 2020

Data Structures and Algorithms Notes

data structures algorithms sorting graph algorithms dynamic programming complexity

A structured DSA note focused on representation, invariants, complexity, graph structure, dynamic programming, greedy methods, and choosing the right tool.

06 June 2020

Singapore Is Not Hong Kong — an Exchange Semester at NUS

exchange NUS Singapore Hong Kong engineering education COVID-19 aerodynamics

Reflections on a mechanical-engineering exchange at the National University of Singapore in early 2020, on why Singapore and Hong Kong look alike and are not, how NUS and CityU teach differently, and what it was like to study through the first months of the pandemic and travel home.

28 May 2020

Engineering Drawing, CAD/CAM, FEM, and CFD - From Geometry to Analysis

engineering drawing cad cam fem cfd orthographic projection dimensioning bezier solid modelling simulation

A practical guide to the engineering geometry pipeline from drawing and CAD to CAM, FEM, CFD, validation, and design iteration.

01 January 2020

Mechanics Notes - Statics, Dynamics, Mechanics of Materials, and Mechanical Design

mechanics statics kinematics dynamics mechanics-of-materials vibration shafts bearings springs gears brakes clutches machine-design

A course-level mechanics and mechanical design note linking force analysis, motion, material response, vibration, and machine element selection into one practical workflow.

18 December 2019

Thermal Dynamics and Thermodynamic Physics

thermodynamics heat transfer thermofluids statistical physics transport phenomena

Master-level notes connecting thermodynamic state, energy, entropy, phase change, heat transfer, exergy, and coupled thermal transport.

01 October 2019

Materials Engineering Notes - Structure, Properties, Processing, and Failure

materials science crystal structure FCC BCC HCP doping semiconductors phase diagrams fracture corrosion composites biomaterials

A causal materials-engineering note connecting bonding, crystal structure, defects, processing, phase transformations, fracture, corrosion, composites, biomaterials, characterization, and material selection.

09 August 2019

Risk and Safety Notes

risk assessment safety risk perception occupational safety exposure risk nuclear risk environmental risk high-rise safety

Introductory but engineering-oriented notes on risk, safety, exposure, organizational failure, environmental health, nuclear risk communication, high-rise fire safety, and practical risk management.

08 August 2019

Manufacturing Notes - Process Science, Production Systems, and Engineering Decisions

manufacturing process engineering solidification casting sheet-metal-forming welding composites ceramics biomaterials quality automation additive manufacturing

A practical manufacturing note organized around process physics, defect mechanisms, quality loops, production economics, and process-selection decisions.

21 June 2019

Control Theory Basics

control theory system modelling feedback control transfer function stability root locus frequency response PID state-space

A course-style introduction to control built around system boundaries, dynamics, stability, feedback, classical design, implementation limits, and the bridge to state-space and nonlinear control.

18 May 2019

Dummy Posts

ignore me

Minimalism is the art of knowing how much is just enough. Digital minimalism applies this idea to our personal technology. It’s the key to living a focused life in an increasingly noisy world.

20 February 2019

Chinese Architecture Notes

chinese architecture feng shui courtyard mortise-tenon palace architecture ritual architecture timber frame ornamentation

Expanded course notes on Chinese architecture, covering spatial order, timber structures, courtyard houses, palace and ritual architecture, ornamentation, regional adaptation, and modernization.

16 June 2018

C++ Engineering Notes

c++ pointers memory stack heap RAII concurrency threads mutex semaphore IO templates STL

A course-level C++ reference organized around type safety, compilation, object lifetime, ownership, RAII, abstraction, containers, concurrency, and performance measurement.

06 June 2018

Solar System Formation Notes

astronomy astrophysics solar system planet formation protoplanetary disk angular momentum accretion meteorites

Interdisciplinary notes on how a molecular cloud becomes a star, disk, planetesimals, planets, and the present Solar System.

31 December 2017