Morris Wachira
Researcher | Bioengineering, Nanotechnology & Robotics
Researcher with interests in bioengineering, nanotechnology, robotics, and modeling of engineering systems.
About Morris Wachira
Focus
📚 Education Contributions
Lesson 2: Forward and Inverse Kinematics
Compute end-effector positions from joint angles and solve inverse kinematics for robotic welding, assembly, and precision positioning
Published: March 10, 2026
Lesson 3: Orientation and Quaternions
Represent 3D orientations using quaternions for smooth robotic motion, avoiding gimbal lock with SLERP interpolation and rotation composition
Published: March 10, 2026
Lesson 1: Robot Arm Geometry and Configuration
Analyze robot arm link design, joint types, workspace boundaries, and common configurations including SCARA, articulated, and delta robots
Published: March 10, 2026
Lesson 6: Robot Simulation and Practical Applications
Build Python robot simulations with real-time visualization and apply robotics across manufacturing, medical, logistics, and agricultural domains
Published: March 10, 2026
Lesson 5: Trajectory Planning and Motion Control
Plan smooth robot trajectories using polynomial interpolation, splines, and velocity profiles for pick-and-place and path following tasks
Published: March 10, 2026
Lesson 4: Velocity Kinematics and the Jacobian
Derive and apply the Jacobian matrix for velocity mapping, singularity detection, and manipulability analysis in collaborative robots
Published: March 10, 2026
Feedback and Control Systems
Measure the output, compare to the desired value, adjust the input. That is feedback. This lesson covers PID control from intuition to implementation.
Published: March 9, 2026
Numerical Methods: Math in Code
Computers do arithmetic, not calculus. Learn root finding, numerical integration, interpolation, curve fitting, and the Runge-Kutta ODE solver.
Published: March 8, 2026
Fourier Analysis and the Frequency Domain
Any signal can be decomposed into sine waves. This lesson teaches you to see signals in the frequency domain, understand the FFT, and avoid aliasing.
Published: March 7, 2026
Differential Equations and Real Systems
A differential equation says the rate of change depends on the current value. RC circuits, spring-mass systems, and cooling all follow this pattern.
Published: March 6, 2026
Probability, Statistics, and Noise
Every sensor reading has noise. Learn to quantify uncertainty, filter signals, detect outliers, and express measurements with proper confidence intervals.
Published: March 5, 2026
Complex Numbers and Phasors
Complex numbers describe rotation, not imaginary things. Euler formula, phasors, impedance, and AC circuit analysis.
Published: March 4, 2026
Linear Algebra: Vectors, Matrices, and Transforms
The language of engineering: how vectors and matrices describe forces, rotations, and systems of equations.
Published: March 3, 2026
Calculus for Engineers
The parts of calculus engineers actually use: derivatives, integrals, Taylor series, and the chain rule in real systems.
Published: March 2, 2026
Spherical Cows and the Art of Model Building
Why all models are wrong, some are useful, and how to build the right one for your problem.
Published: March 1, 2026
System Identification from Measured Data
Fit mathematical models to measured step response data using least squares estimation. Build a black-box model fitter that extracts transfer function parameters from noisy experimental data.
Published: March 9, 2026
Monte Carlo Methods for Engineering Decisions
Use random sampling to analyze tolerance stackups, predict manufacturing yield, and make quantitative engineering decisions when analytical solutions are impossible.
Published: March 8, 2026
Simulating Signal Processing Pipelines
Design digital filters in Python, remove noise from sensor data, and export filter coefficients for embedded implementation. Build a noise filter designer with time-domain and frequency-domain analysis.
Published: March 7, 2026
Sensor Fusion and State Estimation
Combine noisy accelerometer and drifting gyroscope data into accurate orientation estimates using complementary and Kalman filters. Build an IMU orientation estimator in Python.
Published: March 6, 2026
Control System Design in Simulation
Model a DC motor with inertia, friction, and back-EMF. Design and tune a PID controller in Python. Analyze overshoot, settling time, and steady-state error, then paste the gains into firmware.
Published: March 5, 2026
Thermal Modeling for Electronics
Build thermal resistance networks for electronic components. Simulate transient heat-up, size heatsinks, and determine whether your chip stays within its safe operating temperature.
Published: March 4, 2026
Mechanical System Dynamics
Model a spring-mass-damper system in Python. Sweep damping ratios, generate phase portraits, and build a suspension tuner that finds the optimal damping for minimum settling time.
Published: March 3, 2026
Simulating Electrical Circuits
Build RC and RLC circuit simulators in Python. Generate step responses, verify time constants, sweep frequency for Bode plots, and compare results to oscilloscope measurements.
Published: March 2, 2026
From Equations to Simulations
Set up the Python simulation workflow with SciPy solve_ivp. Model a lithium cell discharge curve and predict battery runtime under a realistic load profile.
Published: March 1, 2026