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Running a 28.9-Million-Parameter Language Model on an ESP32-S3 How a 28.9-Million-Parameter Language Model Runs on an ESP32-S3 Running a transformer language model directly on a microcontroller is normally constrained not only by computational throughput, but more fundamentally by the amount of fast memory available to hold model parameters, activations, temporary buffers and the attention state. A project published in July 2026 demonstrated a different approach: a 28.9-million-parameter language model running entirely on an ESP32-S3 , generating approximately 9.5 tokens/s end-to-end . The result is not based on fitting the complete model into SRAM. Instead, it relies on a deliberate decomposition of the model across the device's memory hierarchy, with a large Per-Layer Embedding (PLE) table retained in flash and only the computationally active portion of the model kept in fast memory. This result deserves a...

Whether you are designing an Arduino project, interfacing sensors, or stepping down voltage signals, the voltage divider is one of the most fundamental circuits every electronics enthusiast and engineer must master. In this post, we will break down the core theory, work through a practical exercise, and solve it step-by-step with clear equations. What is a Voltage Divider? A voltage divider is a simple passive linear circuit that converts a higher voltage into a lower one using two resistors in series. The output voltage ( V out ) depends on the input voltage ( V in ) and the ratio of the two resistors ( R 1 and R 2 ). The fundamental voltage divider equation is: V out = V in × [ R 2 / (R 1 + R 2 ) ] The Exercise Problem Scenario: You want to measure the voltage of a 12V battery using a microcontroller analog input pin (such as an Arduino ADC). However, the microcontroller pin can only handle a maximum voltage of 5V . Given Parameters: Input Voltage ( V in ) = 12 V Target Output...

In robotics , a kinematic model is the mathematical relationship that maps a robot’s joint variables (angles or displacements) to the pose (position + orientation) of its body or end-effector — and vice-versa — without using forces, torques, masses, or inertia .   It belongs to Robot Kinematics rather than Robot Dynamics .  What the model actually does It answers two fundamental problems: 1) Forward kinematics (FK) joint values  q → pose  ( x , y , z , R ) Given motor encoder readings → where is the tool tip? 2) Inverse kinematics (IK) desired pose    →    joint values \text{desired pose} \;\rightarrow\; \text{joint values} desired pose → joint values Given a target position → what should each motor angle be? Example — mobile robot (differential drive) State: ( x , y , θ ) (x, y, \theta) ( x , y , θ ) Wheel speeds: v L , v R v_L, v_R v L ​ , v R ​ v = r 2 ( v R + v L ) v = \frac{r}{2}(v_R + v_L) v = 2 r ​ ( v R ​ + v L ​ ) ω ...

To demonstrate whether a dynamical system can be Hamiltonian, you check a small set of strict mathematical conditions. Below is a clear, technical checklist, from fastest rejection to constructive proof. Start from the system form  \[ \dot{x} = f(x), \qquad x \in \mathbb{R}^{2n}. \] The system is Hamiltonian if and only if it can be written as \[ \dot{x} = J \nabla H(x), \] where the canonical symplectic matrix is  \[ \dot{x} = J \nabla H(x), \] where \[ J = \begin{pmatrix} 0 & I_n \\ - I_n & 0 \end{pmatrix} \] is the canonical symplectic matrix, and \( H(x) \) is a scalar Hamiltonian function.  Necessary condition: zero divergence    Hamiltonian flows preserve phase--space volume (Liouville's theorem): \[ \nabla \cdot f(x) = 0. \] If \( \nabla \cdot f(x) \neq 0 \), the system is not Hamiltonian. If \( \nabla \cdot f(x) = 0 \), Hamiltonian structure is possible. Example: damped pendulum \[ \dot q = \frac{p}{m\ell^2}, \qquad \dot...

  Hi everyone 👋 I’ll be honest upfront: I’m not a huge fan of Microsoft Word — I usually work in LaTeX , where formatting and citations behave exactly the way I want without any hacks 😄 That said, we all occasionally find ourselves back in Word , whether for collaborations, journal templates, or institutional requirements. And when that happens, a few quirky tricks can go a long way. If you’re using Zotero with Microsoft Word and want to improve the visual style of your document, this small trick can be surprisingly useful. In many scientific papers and technical documents, in-text citations appear in blue , similar to hyperlinks. Unfortunately, Zotero does not provide a built-in option to automatically change citation colors in Word. The good news? You can achieve this easily using a simple Word VBA macro  no need to abandon Zotero or manually format citations one by one. i originally found this in zotero forms this >  Post  < Below is a simple,...