Entlar Training / Research
Research & Build Logs
Engineering research areas, hardware teardowns, design decisions, and technical write-ups from the Entlar R&D team. Detailed build logs are being authored and will be published before the first cohort launches.
Active research areas
These are the engineering domains our team is actively working in. Build logs for each will be published as write-ups are completed.
Motor Control & Inverter Systems
Field-Oriented Control (FOC) algorithm implementation and tuning on STM32
Inverter topology analysis — two-level, three-phase IGBT/MOSFET stages
Dead-time compensation and current sensing techniques in motor drives
Thermal modelling and thermal management for high-current switching circuits
Gate driver design: isolated, bootstrap, and direct-drive configurations
PCB Design & Power Electronics
High-current PCB layout practices — copper weight, trace width, via sizing
Multi-layer stackup design for EMI reduction in switching power supplies
Impedance-controlled routing for CAN, SPI, and USB differential pairs
Design for Manufacturability (DFM) reviews and panelisation strategies
KiCad 8 workflow: hierarchical schematic, differential pair routing, DRC setup
Embedded Firmware Engineering
STM32 HAL and LL driver architecture for real-time control applications
FreeRTOS task design, queue management, and interrupt-safe communication
CAN 2.0B frame structure, arbitration, and error handling in embedded nodes
Modbus RTU/TCP over RS-485 for industrial sensor and actuator networks
Bootloader design, firmware update (FOTA), and flash memory management
Robotics & Automation Research
Autonomous Mobile Robot (AMR) navigation stack and obstacle avoidance
Servo control loop design: position, velocity, and torque control modes
Sensor fusion using IMU, encoders, and LiDAR for localization
Kinematics modelling for articulated arms and differential-drive platforms
ROS2-compatible firmware interfaces for real-time robot control
Build logs format
Each build log will document a specific hardware or firmware problem: the design constraints, the approach taken, what failed, what worked, and the key takeaway. No marketing. Just engineering.
Publication schedule
The first batch of build logs will be published before the first Entlar Training cohort begins. Subscribe to the Entlar Engineering Blog for updates.