The Convergence Model of Product Development

This is a model that I’ve come to realize is the essential ingredient in developing deeptech projects. It started with discussions with Anto and observations across NoPo and Vrisva.

The Convergence Model: Ensuring Project Success through Integrated Systems

In contemporary engineering and technology projects, complexity is often the norm rather than the exception. Projects fail not because of inadequate resources, but primarily due to misalignment across various critical aspects of the project lifecycle. The “Convergence Model” addresses this challenge directly, emphasizing that for any project to succeed, five distinct yet interdependent domains must align and function harmoniously:

  1. Scientific Model
  2. CAD Model
  3. Engineering Model
  4. Operating Model
  5. Software

This model postulates that the synchronization and convergence of these five elements ensure clarity, efficiency, and success. Any deviation or misalignment in one or more of these domains can cascade into significant project failures, missed deadlines, cost overruns, or even total project abandonment.

1. Scientific Model

The Scientific Model forms the foundational theoretical understanding behind the project. It involves developing a robust scientific basis—often through physics, chemistry, or biology—to ensure the underlying concept is feasible and sustainable. This phase validates the theoretical assumptions, typically using mathematical models, laboratory experiments, or extensive literature reviews. Without scientific accuracy and validation, subsequent stages become speculative and fraught with uncertainty.

2. CAD Model

Computer-Aided Design (CAD) translates the validated scientific principles into tangible digital representations. The CAD model is a precise, visual articulation of the concept, detailing dimensions, materials, configurations, and interactions. It serves as a critical reference point that bridges theory and physical implementation. Any discrepancies between the scientific model and the CAD model can result in costly iterations, design flaws, and functional inefficiencies.

3. Engineering Model

The Engineering Model involves practical realization, encompassing detailed design specifications, materials selection, manufacturing methods, and prototyping. This stage tests and iterates physical aspects such as structural integrity, thermal performance, electrical continuity, and mechanical functionality. The engineering model must align meticulously with both the scientific foundation and the CAD designs to assure integrity and performance consistency.

4. Operating Model

The Operating Model specifies how the engineered system is managed, operated, and maintained in real-world scenarios. It covers standard operating procedures, workflows, maintenance schedules, and training programs. A well-integrated operating model ensures that the physical systems engineered are operated safely, efficiently, and sustainably. Misalignment here can lead to operational inefficiencies, unexpected downtime, or even catastrophic failures.

5. Software

In an increasingly digital world, software integration is paramount. Software acts as the controlling mechanism and user interface, ensuring that all other components function seamlessly. This includes embedded control software, monitoring tools, predictive analytics, and user-interface applications. The software must mirror and enhance the capabilities laid out in the scientific, CAD, engineering, and operating models, maintaining consistency in functionality and performance.

The Importance of Convergence

When all five domains converge effectively:

  • Clarity and Cohesion: Stakeholders clearly understand objectives, outcomes, and roles.
  • Reduced Risk: Early detection and correction of discrepancies avoid costly mistakes.
  • Enhanced Efficiency: Minimizes redundancy and rework across the project lifecycle.
  • Higher Probability of Success: Projects remain within budget, on schedule, and meet or exceed quality expectations.

Conclusion

The Convergence Model is a comprehensive framework ensuring alignment across all critical project areas. Success is contingent upon each model accurately reflecting the others, achieving collective coherence. Organizations that adopt this holistic approach will find increased success rates, enhanced reliability, and substantial competitive advantages in today’s dynamic market environments.

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No that led to Po

It will soon be 14 years since NoPo was founded in 2011. This was reminiscing the journey from what started as a dream that was impossible to be on track to producing significant scale. I was mapping our performance record in this time. From a microgram to a ton. It has been a scale of an astonishing 10^12 times.

2010: Not Possible – There is no way to produce Single Walled Carbon Nanotubes in india. Not happening in Private Sector. So named the company, NoPo and moved on.

2012: No way – Took samples to a national lab for analysis. They felt that I was bluffing and that it’s impossible to produce tubes so small. So we took it to their Zeiss machine; opened it up and voila. I took the images on a CD; had them load it up and walked out with satisfaction.

2014: ‘No’ – I wanted to expand NoPo into a larger premises and asked my grandparents for help. They offered a piece of ancestral land that was no longer in use to expand. Both of them were extremely proud of what we had accomplished and as a bonus; I’d be with them in their old age. My uncles, Narendra and Raghava said No saying they will do some development in the lands and didn’t want me there. As of 2025; the land remains overrun with wild shrubs without even a hint of a fence being built! This led to searching for more places and finding the R&D center in Electronic City.

2015: ‘No, bye’ – One of the key people working with me decided to quit just as we were moving to a new facility. He was to have taken up a bigger management role. But decided to go work for a speculative railway project that never happened. I asked for him to stay back but No. This led to more hiring and found one of my co-founders; Anto.

2017: ‘No, No’ – A cousin had joined NoPo to begin his career and had been moulding him by training in various things. One time, a reactor was damaged down due to carelessness. Had planned out his career and growth but he quit. Later turned out that he had been speaking to a few uncles who had nudged him to quit. He refused to be part of the journey anymore.

2019: ‘No’ – Signed an MOU with a major Aerospace and defense contractor. Due to changes in procurement laws by the GOI; the follow on actions were cancelled. This led to us being part of IDEX and began development of a Desal system. The water development led to improved purification and sorting capabilities. This in turn led to us developing a material most suited for our current markets. The metallic nanotubes that were envisioned to be developed for the project have now made an entrance in 25

2021: ‘Not sure, sure’ – Met my wife and we both touched the right chords. There was a brief moment when the thoughts oscillated on whether this is it or not. Luckily; everyone was convinced. And met my life partner and Yuri. The Not sure became a firm Yes and led to building Vrisva; a company that is building rockets to take me us to Mars.

The ‘No’s are just a distraction. As long as we can ‘Po’ on the journey.

Po – ಪೋ – go in telugu.

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The Carbon Valley – A vision for electronics using Carbon Nanotubes

Electronic Devices have propelled a digital world that has improved quality of life significantly. The magic written about in epics is now a part of life. These breakthroughs have been made with Silicon as the foundation. Despite Silicon not being the most perfect material to make electronics.  

Most of life is made of Carbon due to its versatility. Carbon exhibits semiconducting properties when rolled up into tiny tubes called Single Walled Carbon Nanotubes.  

These 1-Dimensional tubes exhibit a Band Gap that is dependent on Diameter. By selecting appropriate Diameters, it is possible to achieve any bandgap from 0-2eV. In comparison, Silicon has a bandgap of 1.12eV, Germanium is 0.66eV, GaAs is 1.424eV, GaN is 3.4eV, CdTe is 1.5eV, INnGaP=1.86eV, InGaAs is 1.4eV 

Due to the band gap tuning, Single Walled Carbon Nanotubes can replicate the bandgap of 99% of all known Semiconductors. The 1-D Nanotubes occupy a significantly smaller area than any known active material. For the first time, we have an incredible building block on hand. Such a versatile material will revolutionize multiple areas. 

Processors 

Processors are large integrated circuits. Nanotube circuitry will be up to 1000x faster while drawing lesser energy. The first machines with an ability to reason on par with a human and in the form factor of a handheld device will be made of Carbon Nanotubes.  
 

Humans are made mostly of Carbon; Nanotubes have been found to be compatible with biological cells unlike metals. Metals are extremely toxic and cannot be used to interface with Biological organisms. Carbon Nanotubes esp. Metallic nanotubes are perfect wires to interface Neurons to external computers. This Neural computing will herald a new age where humans can directly interface with machines allowing us to solve complex problems that will reveal the true nature of the universe.  

Solar Cells 

The small size of Nanotubes gives them the ability to utilize both the wave and particle nature of light to capture energy and convert to electricity. The most efficient solar cells are made of multiple junctions made of 3-4 different materials with bandgaps ranging from 0.66 to 1.86eV. These heterojunction cells are complex by design and require complex fabrication to handle the differing requirements of each layer. Nanotubes of different diameters allow for realization of cells with even higher junctions. This allows us to capture a larger part of the solar spectrum. Today of the 1.2kW/m2 energy being received. Hardly 0.25kW/m2 is converted to usable energy. This number can go as high as 1.1kW/m2 using multi junction SWCNT solar cells. Imagine being able to produce 4-5x the energy from a Solar Farm. These cells are game changers for both earth and inter planetary colonization. While delivering clean energy in copious quantities using the largest working Fusion reactor.  

Infrared Sensors 

An effect similar to that of the solar cells is seen across the wide infra red spectrum. The smaller bandgap Nanotubes are suitable Infrared receivers with the ability to detect emissions in the Short, Medium and Far Infrared regimes. Currently the best IR sensors are made of InGaAs with a band gap of 0.75eV. They require special cryogenic cooling to achieve an image that is clean. SWCNT have demonstrated an ability to achieve superior results at room temperature. This will revolutionize areas such as Self Driving with better IR sensors looking out for obstacles. Military sights that are superior and would have visibility almost on par to day time with minimal noise. Cameras with even better reds. And VR sensors that are able to detect the complete fluid movements of a person.  

Quantum Computing 

Quantum Computers have shown tremendous promise and are already being used in Cryptography. A major limitation for Quantum Processing has been the loss of Coherence due to interaction of particles. Nanotubes are excellent structures to confine atoms in a single file and ensure they are not disturbed by external forces. In fact, this effect has been used at NoPo to produce high performance water filters. Confining particles within Nanotubes allows us to have thousands of atoms in Coherence giving the ability to realize practical computers. Their small size allows for billions of quantum computers to operate in parallel and hence provide results with a much higher confidence level that a single device made of a few qubits. Quantum processing will accelerate complex math. Break existing cryptography and open a new knowledge base for humanity.  

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Car Porting | BYD Atto3 | Comma3x Openpilot | Software – Dev Environment Setup

With regard to the software, @ixcess has maintained support through a fork KommuAi/bukapilot. The BYD related code is at https://github.com/kommuai/bukapilot/tree/f549c012878f1af067f4a4e351cfa5668a492bd3/selfdrive/car/byd

This fork is based on the v0.8.13 release. The master branch of Openpilot as of today is 0.9.8
There are significant changes in the code structure and a large part of documentation is different. The Openpilot codebase follows a Continuous Integration model. It’s great for supported cars. The detailed documentation for each change was harder to find. The referenced Car Ports from 2018 for Toyota were only good to get an overview of the process and not exactly

Major changes between 0.8.13 and 0.9.7 Codes

  1. The code controlling cars has moved from openpilot/selfdrive/car to a new repository called opendbc. The repo is symlinked so that things don’t break. OpenDBC has been forked out as a separate project. The exact usage and API calls are still work in progress as of 27 September 2024.
  2. The Official Development environment for OpenPilot is Ubuntu 24.04 . In fact, your Comma device is running this Ubuntu Linux.

I prefer creating a virtual machine to have all Development Environment in one place. So have used UTM to create a Virtual Machine on my ARM based machine. Install Ubuntu 24.04 ARM on UTM

Once Ubuntu is up and running, the official documentation will help install all the dependencies for running Openpilot on the Ubuntu. Reproducing the steps here for reference. Type these in the terminal of your new Ubuntu installation. Note that the 3rd step in the Tutorial of official documentation won’t work as the UI has changed and you can’t do a grep to find white or blue.

1. Setup your development environment

Run this to clone openpilot and install all the dependencies:

bash <(curl -fsSL openpilot.comma.ai)

Navigate to openpilot folder & activate a Python virtual environment

cd openpilot
source .venv/bin/activate

Then, compile openpilot:

scons -j8

2. Run replay

We’ll run the replay tool with the demo route to get data streaming for testing our UI changes.

# in terminal 1
tools/replay/replay --demo

# in terminal 2
selfdrive/ui/ui

The openpilot UI should launch and show a replay of the demo route.

If you have your own comma device, you can replace --demo with one of your own routes from comma connect.

Prior to connecting to your own comma device. You will have to authenticate. By default it will authenticate with Google. To change to github or apple use

#For Apple
tools/lib/auth.py apple

#For Github
tools/lib/auth.py github

To login to the device; you need to use SSH. The process to setup SSH is well documented.

To use Cabana, the command is

tools/car_porting/cabana

With the SSH completed, everything you need to setup the development Environment is completed.

Now all connections are set. Now to begin Porting. After reading code and watching videos; there are 3 areas to look into

  1. opendbc_repo/opendbc/car
  2. openpilot/selfdrive/car/car_specific.py
  3. Panda Update

This post has helped you setup the development environment. And get to the stage where you can beign the process of software porting. Will deal with the code updates to get openpilot to recognize the BYD Atto 3.

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Car Porting | BYD Atto3 | Comma3x Openpilot | Harness

Comma 3x is an excellent hardware to get an ADAS that’s close to FSD for everyone. The hardware and software are developed separately. This is a detailed documentation of every step in porting the BYD Atto3 to work with Comma 3x. The official documentation was a little scattered and outdated. Hence the need for this documentation

Date: 1/September/2024 | Comma Release 0.9.8 | Hardware: Comma 3x

I purchased a Comma 3x with a Developer Harness for this project. This section of the tutorial deals with the technique to make the harness suitable for BYD Atto 3 (RHD) as sold in India.

As per the Comma official documentation. I reviewed the Comma Con 2023 video by Jason

How to Port a Car | Community Speaker: Jason | COMMA_CON 2023

First step was to get the Repair Manuals. Found the manuals in an issue post in Comma Openpilot Github Repo. Keeping a record of the links for anyone.

cuter-doc0 commented on May 28

Atto 3 RHD and LHD service, engineering, workshop, maintenance, metal bodyshop, paint shop, electrical, diagnostics manuals and documentation.This is a web based manual – to use, extract zip and open index.html765 ATTO3-LHD-FULLPACK.zip (1.13 GB)
https://workupload.com/file/43LMbSrbKfJ715 ATT03-RHD-FULLPACK.zip (1.12 GB)
https://workupload.com/file/rJ8HpQFL6MGPDF files can be grabbed from here too: https://t.me/atto_3/1/17553

Many of the images used in the following section are from this official repair manual

First step in installing Comma is to find the OBU port. On BYD Atto 3, this is located as shown.

Remove the LDW (Lane Departure Warning) Cover holding the ADAS Camera. It can be pried open using a soft plastic pry tool.

The ADAS camera in BYD is from Veoneer and the model is MVS4. Mono Vision System 4.

The wiring diagram of the MVS4 – Multifunction Camera is as below

The connector used in BYD is TE 1-1355211-2

Mating Part is TE 1-1670459-2

The developer Harness that shipped for me was a V1 harness. There is a new V3 harness in the works. We will have to use the V1 harness. Column 2 below is the correct wiring needed

BYD Connector PinoutComma V1 Connector Pinout (In BYD)Comma 3x Connector Pinout (18pin ) V3Ixcess Connector (26pin) V1 Connector
1 – GND1,261,171,26
2 – IGN12,162,1412,14
3 – Private CAN_H18,84,1618,8
4 – Chassis Network CAN_H22(Camera),4(Car),8,922,4
7 – Private CAN_L20,106,1820,10
8 – Chassis Network CAN_L24(camera), 6(Car)7,1124,6

Active Developer and Discord user iXcess from Malaysia made a connector using the above parts and shipped it to me. As received connector pinout is as shown in Column 4in the table above. I had to change the wires for IGN in order to get the cable working properly.

With these changes; the connection was successful and Comma3x finally began to be recognized and recorded routes albeit in dashboard mode.

That’s it. Now the hardware is connected and will now set the stage for the next part which is the software include the porting process.

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