Projects

Deep Learning

BEV-Net: a multi-task network that detects area where people are violating the social distancing. Geometric reasoning is used.
Making UC San Diego Snowy Again: a cycleGAN with attention mechanism to transform a picture of UCSD into another one in snow.

Robot Manipulation

To manipulate a robot, the basic elements are the description of the robot’s configuration space which represents the reachable positions and the controller logic which satisfies specific demands. Here are some demos of my robot manipulation projects.

Trajectory with Given Fixed Points
Plus Obstacles

Path Planning

Collision Detection and Path Planning: Performance comparision and improvement of algorithms for path planning with collision detection.
Faster Neural Path Planner Based on MPNet: a fast neural path planer

SLAM

Performance Improvement for Particle Filter SLAM: employs some methods to improve the performance of particle filter SLAM
Visual-inertial SLAM with Extended Kalman Filter: implemented SLAM with extended Kalman filter and compared it with particle filter SLAM

Reinforcement Learning

Algorithm Investigation with OpenAI Gym: implemented and compared different reinforcement learning algorithms: SARSA, Q-Learning, DQN

SoC Software Development

CamelStudio X: an IDE designed for embedded system software development on macOS. Although it is challenging, I developed this software out of enthusiasm. This software and its related tools are adpoted for commercial usage now.
CamelLibrary: a library for speeding up the development of SoC software
ELF Converter: a software for analyzing ELF files and generating SoC firmwares

System Design and Implementation

Ultrasonic Blood Flow Field Measuring System: a prototype system for measuring the flow field of blood.
3-DOF Scanning Platform: a 3-DOF system for multiple functionalities.
Self-balancing on a Pivot: Inspired by the classical inverted pendulum and the single-plank bridge, I designed and built a robot that can keep balanced on a pivot by itself with PID controller. Using this system, I studied the PID controller.
Mechanical System For Studying Pipette Hot Fountain: when I was a freshman, I designed this mechanical system controlled by an Arduino Uno board to study the phenomenon of pipette hot fountain.