Rotary Inverted Pendulum
A £20 open-source Furuta pendulum that balances itself with a 689-parameter neural network running standalone on an Arduino Nano.
18Projects
Things I’ve built
Robots, sensors, simulations, and tools — most of them open source, many with a live demo you can play with right now. The archive at the bottom goes all the way back to my first games in 2013.
Time-of-Flight 3D Scanner
Turn a £5 VL53L5CX multi-zone ToF sensor and an IMU into a real-time 3D point-cloud viewer and room mapper.
Robot Explorer
Browse 81+ robots from 35+ brands in the browser, with real-time inverse kinematics, manipulability ellipsoids, and force polytopes.
Thermal Master Viewer
A browser-based viewer for Thermal Master P3/P1 USB thermal cameras. Plug in, open the page, no install — driven directly over WebUSB.
TORA.jl
Trajectory Optimisation for Robot Arms — describe a task at a high level and get a full, dynamically consistent trajectory back.
PID Control, Explained
Learn what P, I, and D actually do by tuning a controller on a simulated cart, with live plots and performance metrics.
Hand Tracking Experiments
Real-time monocular hand tracking on Apple Silicon — MediaPipe live at ~40 fps, WiLoR meshes offline — aimed at teleoperating a robot hand.
ModernRoboticsBook.jl
A Julia port of the Modern Robotics textbook library — rigid-body motions, kinematics, dynamics, trajectory generation, and control.
Algorithm Cheat Sheet
A two-sided A4 sheet mapping problem clues to algorithms, with a minimal template for each — generated from editable YAML.
Robot Localization, Explained
An interactive, step-by-step introduction to how a robot knows where it is — from dead reckoning to a Kalman filter to map-based localization.
Solaris
An interactive 3D solar system in the browser — textured planets at realistic positions, from the Sun out to Pluto.
RoLoMa
Robust loco-manipulation for quadrupeds with arms — trajectories that resist stronger disturbances, from any direction, while pulling levers and turning wheels.
Space Shuttle Reentry
Computing a 33-minute Space Shuttle reentry trajectory in under 7 seconds with direct transcription and JuMP.
Self-Balancing Robot
My first hands-on robotics build — a two-wheeled Balanbot kit, a custom battery adapter, and a fair amount of fixing.
Gamepad Tester
Connect a controller and see every button and stick light up in real time. Embeddable anywhere with a single iframe.
Magnet Player
Stream torrents directly in the browser. Paste a magnet link and watch — peer-to-peer over WebRTC, with nothing to install.
Libretto for Jekyll
A responsive one-column Jekyll theme with classic styling and careful typographic details, ported from WordPress.
CreateJS Playground
Four small browser simulations from 2016 — evolving bacteria, flocking boids, a to-scale solar system, and a starry night.
Nothing here yet.
∑Archive
Everything, by year
40 projects, write-ups, and talks since 2013.
2026
- Rotary Inverted PendulumA £20 open-source Furuta pendulum that balances itself with a 689-parameter neural network running standalone on an Arduino Nano.Python · MuJoCo98
- Time-of-Flight 3D ScannerTurn a £5 VL53L5CX multi-zone ToF sensor and an IMU into a real-time 3D point-cloud viewer and room mapper.Python · ESP32525
- Robot ExplorerBrowse 81+ robots from 35+ brands in the browser, with real-time inverse kinematics, manipulability ellipsoids, and force polytopes.TypeScript · Three.js21
- Thermal Master ViewerA browser-based viewer for Thermal Master P3/P1 USB thermal cameras. Plug in, open the page, no install — driven directly over WebUSB.JavaScript · WebUSB
- PID Control, ExplainedLearn what P, I, and D actually do by tuning a controller on a simulated cart, with live plots and performance metrics.JavaScript · Canvas
- Hand Tracking ExperimentsReal-time monocular hand tracking on Apple Silicon — MediaPipe live at ~40 fps, WiLoR meshes offline — aimed at teleoperating a robot hand.Python · MediaPipe
- ModernRoboticsBook.jlA Julia port of the Modern Robotics textbook library — rigid-body motions, kinematics, dynamics, trajectory generation, and control.Julia59
- Algorithm Cheat SheetA two-sided A4 sheet mapping problem clues to algorithms, with a minimal template for each — generated from editable YAML.Python · SVG
- Robot Localization, ExplainedAn interactive, step-by-step introduction to how a robot knows where it is — from dead reckoning to a Kalman filter to map-based localization.TypeScript · Svelte
- SolarisAn interactive 3D solar system in the browser — textured planets at realistic positions, from the Sun out to Pluto.TypeScript · Three.js
2022
2020
2018
- Self-Balancing RobotMy first hands-on robotics build — a two-wheeled Balanbot kit, a custom battery adapter, and a fair amount of fixing.Arduino · Electronics
- Gamepad TesterConnect a controller and see every button and stick light up in real time. Embeddable anywhere with a single iframe.JavaScript · Gamepad API
- Introduction to Robotics with Three.jsSlidesWorkshop slides for ENEI, the Portuguese national meeting of informatics students.Three.js
2017
2016
- Magnet PlayerStream torrents directly in the browser. Paste a magnet link and watch — peer-to-peer over WebRTC, with nothing to install.JavaScript · WebTorrent583
- Libretto for JekyllA responsive one-column Jekyll theme with classic styling and careful typographic details, ported from WordPress.Jekyll · Sass63
- CreateJS PlaygroundFour small browser simulations from 2016 — evolving bacteria, flocking boids, a to-scale solar system, and a starry night.JavaScript · CreateJS
- Away at EdinburghBlogA journal of my Erasmus year in the UK, written for posterity.Jekyll
- DokuWeakiWorkPlugins for DokuWiki aimed at agile teams — I built the collaborative real-time editor.PHP
- C++11 — new featuresSlidesA web presentation on C++11’s new features, with before-and-after code samples.HTML
- Hackacity 2016A visualiser for Porto environmental datasets, built at a hackathon.PHP
- The Prisoners and the Light SwitchThe classic prisoners-and-light-switch logic puzzle, in Scala.Scala
- Coding challengesMy own solutions to online coding challenges, still growing.Julia22
2015
2014
- Difusal & the LCOM tutorialsBlogMy first blog, home of a tutorial series on writing a game from scratch in MINIX.C · MINIX
- Solar system simulatorMy first solar system simulation.JavaScript
- ObstaklesYet another Android game.Android
- Snake for AndroidMy first try at making a game for Android: the classic snake.Android
- Monty Hall problemMy first Android app: a simulation of the Monty Hall problem.Android
- LabyrinthA maze game for the object-oriented programming course.Java