projects

selected systems, robotics, ml, and security work.

systems

aulon nats-compatible message broker built on tokio-uring, fixed buffers, sharded routing, fuzzed wire parsing, operator docs, and benchmark harnesses
ringtuner c simulator for nic rx interrupt coalescing with fixed baselines, adaptive tuning, trace replay notes, and latency/drop/cpu tradeoff analysis
gretun go cli for nat-traversing gre-over-fou tunnels with a small coordinator, sealed discovery messages, metrics, and linux netlink integration
archimedes rust, wasm, and webgpu computational-geometry playground with hulls, delaunay, voronoi, polygon ops, robust predicates, and crdt collaboration

robotics and embedded

ping-rs stm32f411re ultrasonic radar in async rust: servo sweep, hc-sr04 ranging, ssd1306 polar display, and json-over-usb telemetry
imu-deadreckoning strap-down inertial navigation on stm32f411re with mpu-6050 sampling, madgwick ahrs, world-frame integration, and drift accounting
slam-engine stm32-scale occupancy mapping and pose estimation with an ekf, log-odds grid, host simulator, replayable frames, and ci-covered c core
esp32-s3 rf board 4-layer bare-chip esp32-s3 board with usb-uart, power, antenna keepout, and a controlled-impedance 2.4 ghz feedline
pid motor control stm32f411re closed-loop motor controller with 1 khz pid, imu feedback, uart tuning, and step-response capture

ml

gatewind fast 3d drone rl environments with vectorized dynamics, procedural gates, wind disturbances, baseline controllers, ppo training, and portable trajectory artifacts
crucible grpo reasoning trainer for small instruct models on local hardware, with verifier rewards, mps supervision, tests, and phase-one training curves

security and tools

dredge binary and firmware vulnerability triage pipeline with ghidra decompilation, profile-specific heuristics, llm review, resumable scans, reports, and tests
sensor-bridge lock-free sensor processing pipeline with spsc ring buffers, no_std-compatible core pieces, benchmarks, examples, and robotics-oriented backpressure paths
container-runtime-rs minimal rust container runtime exploring namespaces, cgroups v2, overlayfs, oci image pulling, lifecycle state, and linux hardening primitives

archive

open source contributions recent upstream work and older contribution notes
hardware index older embedded notes, board ideas, and hardware writeups