Richard's Blog

The Ash palette on the desktop: an Omarchy/Hyprland theme pair derived from Harbor by a recolor script, plus an ImageMagick tool that turns your own photos into matching wallpapers.

Sequel to the 35B post: a 94.5 GB, 177B MoE on the same 2016 Unraid box — how 1.1 t/s page-cache thrashing became 9,2 t/s of A/B-verified production, with the telemetry measured in the server's own counters and the true cost per token metered in joules at the wall socket.

Prefill vs decode, why memory bandwidth caps tokens/s, MoE, quantization and context limits — a crash course with real measurements from a 12 GB GPU and a very patient Xeon.

How this blog runs on Trilium's public share: a custom EJS template, six note-based theme families with matching palettes, and the same colors for the Trilium app and Gitea - all in two repos.

Benchmarking Qwen3.6-35B-A3B (MoE, 4-bit) on an Unraid box: Xeon E5-2630L v4, 64 GiB DDR4 ECC, RTX 3060 12 GiB. What prefill, decode and load times actually feel like for coding agents and Trilium note-taking.

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.

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.

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.

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.

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.