https://richard.familie-zink.org/blog Project documentation & technical blog by Richard Zink en Thu, 10 Sep 2026 07:25:48 GMT https://richard.familie-zink.org/blog/inside-this-blog-a-share-notes-engine-with-a-themable-frontend inDtoyyz9thb Tue, 08 Sep 2026 00:00:00 GMT How this blog runs on Trilium's public share: a custom EJS template, five note-based theme families with matching palettes, and the same colors for the Trilium app and Gitea - all in two repos. https://richard.familie-zink.org/blog/ignis8-fast-lio-loop-closing v778JORAnpij Wed, 02 Sep 2026 00:00:00 GMT A code-level tour of IGNIS-8's LiDAR-inertial odometry: a FAST-LIO-style error-state Kalman filter fusing the L1 PM's 250 Hz IMU with its 20 Hz point cloud into a 6-DOF pose, plus a keyframe-based loop closer that detects revisits, confirms them by scan match and rebuilds the four-level voxel map without drift. https://richard.familie-zink.org/blog/ignis8-drive-arm-gate 7EyHklclcGVO Sun, 30 Aug 2026 00:00:00 GMT Why IGNIS-8's drive starts disarmed like a drone: a fail-safe-by-default arm gate that only lets the vehicle move after the operator deliberately enables it, and that re-disarms automatically on every watchdog timeout or emergency stop. https://richard.familie-zink.org/blog/ignis8-emergency-stop kRTOgbiwjhfI Sat, 29 Aug 2026 00:00:00 GMT Why IGNIS-8's emergency stop is a latched, multi-source system that never resets itself: two independent latches, battery and operator triggers, a manual-only release, and a stop that is selective — the drives release while the camera gimbal and sensors stay live. https://richard.familie-zink.org/blog/cutting-thermal-stream-and-slam-load uzmCVAsFjcJB Thu, 27 Aug 2026 00:00:00 GMT Why my reconnaissance UGV kept throwing OVERLOAD, and how a lookup-table palette, a frame-rate cap and an offscreen raster blit took the thermal stream and the SLAM map from a saturated CPU to a smooth ride. https://richard.familie-zink.org/blog/ignis8-battery-phev1-m50l S3wsaj19dS5L Thu, 27 Aug 2026 00:00:00 GMT Comparing the Samsung PHEV1 prismatic 6S2P pack against a 6S21P LG INR21700M50L cylindrical candidate for IGNIS-8: OCV and power-limit curves, weight and space, and how both cell models are selectable in the VCU config. https://richard.familie-zink.org/blog/ignis8-technical-hurdles ozevCW5vvOtE Sun, 16 Aug 2026 00:00:00 GMT The problems between the drawing board and a working vehicle: a browser-fed watchdog that flipped the OVERLOAD badge, a palette filter that ate nine cores, a camera that refused to follow orders, and a map that stalled the handheld. https://richard.familie-zink.org/blog/ignis8-project-start 0ixEFpiXl6Lg Sat, 08 Aug 2026 00:00:00 GMT How IGNIS-8 came to be: a swollen cell on a battery production floor, a phone call, and the idea of a remotely operated platform that could look at it from a safe distance. https://richard.familie-zink.org/blog/leather-notebook-cover k6aslDxBHulY Sat, 21 Feb 2026 00:00:00 GMT Hand sewn notebook cover made from goat skin leather https://richard.familie-zink.org/blog/nec-mpi400-namechange QaHi3lULbcum Tue, 28 Jan 2025 00:00:00 GMT To directly go out of harms way with legal problems, I changed the name of the project. https://richard.familie-zink.org/blog/nec-mpi400-reverse-engineering-the-keyboard-matrix Bx7hKarVZlGf Thu, 25 Jul 2024 00:00:00 GMT Create PCB; Do measurements; Use QMK; Have Keyboard! 😎 https://richard.familie-zink.org/blog/nec-mpi400-project-start 9mVAVwtlNCTb Tue, 16 Jul 2024 00:00:00 GMT Complete disassembly of the MobilePro 900 https://richard.familie-zink.org/blog/soc-ocv-calculation TxlNPtkaHjjA Sun, 07 Jul 2024 07:01:00 GMT C source for SoC calculation based on open circuit voltage https://richard.familie-zink.org/blog/dlg-inr18650-320 9zxBjebNKoVJ Sun, 25 Feb 2024 08:31:00 GMT SoC/OCV liion cell data https://richard.familie-zink.org/blog/oswm-planning 3nwNkCrqAMS9 Sat, 02 Dec 2023 08:51:00 GMT Planning a mount with strainwave gears for use with OnStep https://richard.familie-zink.org/blog/ngc-281-pacman-nebula obZwmWDJdzK6 Thu, 23 Mar 2023 07:43:00 GMT Image of Pacman Nebula taken with Star Adventurer https://richard.familie-zink.org/blog/revisiting-astrophotographies 7Mevqxav5uXv Wed, 22 Jun 2022 11:28:00 GMT Revisiting old photographies of M31 and M42 with a refreshed software process