Most LLM apps in 2026 ship by vibes — write a prompt change, read a few outputs, decide if it feels better, ship. The “decide if it feels better” step is the problem.
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When Your Noise Isn't Gaussian
An Unscented Kalman Filter, and the lesson it taught me about honesty
Years ago, early in my career, I was working on torque measurements for a dynamometer test stand — the kind of rig that spins drivetrain components at controlled speeds to characterize their losses. The job sounded simple: take a torque reading at one end of a shaft, take another at...
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Tracking a Pedestrian From Two Liars
Sensor fusion with an Extended Kalman Filter
Code: github.com/oalahurikar/Extended-Kalman-Filter-Project
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Teaching a Car to Think 750 ms Ahead
Model Predictive Control under 100 ms of latency
Code: github.com/oalahurikar/CarND-MPC-Project
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The Gap Nobody Owns
Why Integration is Where Intent Goes to Die
In 2018 and 2019, two Boeing 737 MAX aircraft crashed, killing 346 people. The investigations revealed a software system called MCAS that pilots didn’t know existed, relying on a single sensor, with authority that had been quietly expanded late in development. Boeing had some of the most rigorous systems engineering...
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