Harshin's Builds on Builds

Autodrive

Sat, 28 Feb 2026 21:06:05 +0530

Steering testing

Can control of vehicle with feedback

Steering takeover

ACC

Trajectory tracking

Webots

VNAV

Sat, 28 Feb 2026 21:11:41 +0530

Trajectory tracking

Drone racing

Polynomial Trajectory generation using Euler-Lagrange method

Feature tracking and 3D-3D, trajectory reconstruction

GTSAM - Factor graph Optimization

Obtaining Position from noisy gps and IMU - using Factor graph based optimization

Plane

Sat, 28 Feb 2026 21:12:14 +0530

Plane flying

8Kg Payload - 36KG MTOW

36Kg MTOW, 8Kg payload plane

System specification from mission profile

Given the mission profile, we determine the velocites and accelerations that the plane should handle Based on that VN diagram is made

Flight envelop graph - giving loadfactor for the Velocities required my mission profile

Raftar

Sat, 28 Feb 2026 21:11:41 +0530

Drivetrain

Motor brackets, shaft and sprocket

Motor with limited slip differential, sprockets and eccentric plates

Complete drivetrain assembly in car

High speed hydrodynamics

Sat, 14 Feb 2026 11:21:33 +0530

This article series explains how I made the ground-effect UAV take off from water. In general, high-speed hydrodynamics lack modern resources. This article would be a small contribution from my side.

Making a plane take off from water is more complicated than making a fast boat and a fast plane. This isn’t a vertical-lift-off UAV, and the runway is chaotic. There is a long American story of why Russians failed, how NASA tried to make a blue whale, which never got out of paper LINK A few companies that make GE planes are Poseidon; the next closest is Regent.

Step1 to Autonomy

Tue, 10 Feb 2026 00:00:00 +0000

What’s in here

Step 1 is to understand the platform you are working with; this article is for those trying to convert a standard vehicle into an autonomous vehicle for research or testing. I would share ideas on how I approached the problem and the alternatives I found, along with good references.

This work primarily focuses on translating hardware systems to seamlessly interface with software, specifically in the context of electric cars. Starting with a basic understanding of the electric vehicle powertrain, to implementing a software backbone that enables the vehicle to track a reference trajectory, with a provision for user-safety override.