Notes
A working archive of durable ideas, reading paths, and field notes.
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- 2026-07-24
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Recent notes
The newest entries across every category.
Introducing Ifires
Why I built a research agent that runs on Claude Code around the clock, what it actually does, and how it ended up writing the article you're reading a sibling of.
Jacobians in Robotic Arms
How the geometric Jacobian maps joint velocities to end-effector twist, why it matters for control and singularity analysis, and how to compute and use it for a planar 2-DOF arm.
Heron's Method
An ancient square-root algorithm rediscovered as a special case of Newton-Raphson, with a derivation, convergence analysis, and implementations in Python, TypeScript, and C++.
Featured entries
A small starting set for browsing the archive.
Introducing Ifires
Why I built a research agent that runs on Claude Code around the clock, what it actually does, and how it ended up writing the article you're reading a sibling of.
Jacobians in Robotic Arms
How the geometric Jacobian maps joint velocities to end-effector twist, why it matters for control and singularity analysis, and how to compute and use it for a planar 2-DOF arm.