Research

For more recent research outcomes, please visit my new website: www.fangyizhang.com.


Projects List
Current Projects
      Vision-Based Robotic Manipulation Learning through Exploration
Projects at HKUST

Current Projects
PhD Research Topic: Vision-Based Robotic Manipulation Learning through Exploration

Projects at HKUST

1. Visible Light Communication (VLC) based Indoor Localization and Navigation    2014
  • Supervisor: Prof. Ming Liu ; Cooperator: Kejie Qiu.
  • This work was supported by the HKUST Project IGN13EG03; partially sponsored by the Research Grant Council of Hong Kong SAR Government, China, under project No. 16206014 and NSFC Fund 6140021318.
  • Developed a beacon code selection algorithm and corresponding signal decomposition algorithm based on CDMA code selection principles and Gold-sequence correlation properties.
  • Developed a light intensity distribution map generation algorithm based on Gaussian Process Regression (GPR). 
  • Developed a localization and navigation algorithm based on Kalman Filter (KF) and A star. 
  • Three conference papers have been accepted to ICRA 2015, IROS 2016, and CASE 2015, respectively. Details are in the publications page.

2.
3D-sensing based on a 2D-laser-scanner    2014
  • Supervisor: Prof. Ming Liu.
  • Developed a software framework based on Robot Operating System (ROS).
  • Developed an Extended Kalman Filter (EKF) based rotation angle estimation algorithm. 
  • Developed a 2D-space to 3D-space transformation algorithm based on geometrical relation and dynamic rotation information. 
https://sites.google.com/site/fangyifanleyzhang/research/2.png?attredirects=0
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Projects at ECJTU

1. FIRA-MiroSot Soccer Robot Control System (Excellent Graduation Project)   2009-2010
interface

2. Freescale Smart Car   2009
  • Advisor: Director Yun Yang; Cooperators: Liguo Zhu, Haijin Qiu.
  • Developed a smart car for the 4th Freescale Smart Car Competition (FSCC). Realized an average velocity of 1.8 m/s, using PID, revised fuzzy control method, statistic-based pattern recognition method and the multi-layer filtering algorithms based on the small window filtering method (specifically developed for this smart car). The software was realized in the embedded system based on Freescale MCU.
  • Won the Excellent Award in the Photoelectricity Category in South China Region.
  • The Design of Autotracking Smart Car Based on Digital PID
  • Lecture PPT (Freescale Smart Car)

 

3. Multi-function Smart Car   2009
  • Advisor: Director Yun Yang; Cooperators: Haijin Qiu, Liguo Zhu.
  • Developed a multi-function smart car to finish a complicated task which requires the car to detect the positions of copper pieces on a road, then avoid obstacles and enter a garage. Realized the software in the embedded system based on Freescale MCU.

4. Smart Balance Car   2009
  • Advisor: Director Yun Yang; Cooperators: Liguo Zhu, Haijin Qiu.
  • Developed a smart car to counterbalance a teeterboard and adapt to changes of the balance point, using revised fuzzy control method. Realized the software in the embedded system based on Freescale MCU.

5. Pensile Motion Control System   2009
  • Advisor: Director Yun Yang; Cooperators: Haijin Qiu, Liguo Zhu.
  • Developed a pensile motion control system which can move and draw various patterns at designated position on a perpendicular drawing board. Developed the control algorithms based on its geometric and motion model. Realized the software in the embedded system based on Freescale MCU.

6. Sound Location and Control System   2009
  • Advisors: Prof. Xuesong Xu, Prof. Yongxian Zhang, Director Yun Yang; Cooperators: Haijin Qiu, Liguo Zhu.
  • Developed a sound location and vehicle control system for the 9th National Undergraduate Electronic Design Contest (NUEDC). Its function was to locate the position of a vehicle through the specific sound it emitted and control the vehicle to the designated location wirelessly. Developed the location and control algorithms based on the sound characteristics and the system’s geometric model. Realized the software in two embedded systems based on Freescale MCU, which can communicate with each other wirelessly.
  • Sound-Based Localization and Navigation System
  • Won the Second Prize in Jiangxi Province.

7. Innovation of Intelligent Home Appliances Supervisor (Challenge Cup project)   2008-2009


Projects at CSR

1. R&D of The Adhesion Control of Locomotives (CSR project)   2012-2013
  • Optimized the Matlab (Simulink) simulation model of adhesion control, making it closer to reality and improving its manipuility.
  • Optimized the adhesion control of locomotives based on the differential acceleration of wheels, including the algorithm and software (realized in the embedded system based on DSP).
  • Realized applications of this adhesion control algorithm on electric locomotives, diesel locomotives and metro vehicles.


2. R&D of Testing and Applied Technologies for Power Electronic Devices (CSR project)   2010-2012
  • Developed different controllers for various types of experiment circuits, using the embedded technology based on the Freescale MCU.
  • Participated in the simulation (using PSIM), design and realization of the main circuit and the control circuit of the equipment, the 150 kA Pulse Discharge Testboard. Developed offline test data analysis software for the testboard based on Visual Basic for Applications (VBA).
  • Participated in the realization of the auto scan of X-TEK X-ray instrument for IGBT, based on Visual Basic.
  • Researched characteristics of the pulsed thyristor and IGCT (new kinds of semiconductor devices), such as the gate characteristic, the frequency characteristic and the high-temperature characteristic.
  • Publication: Ren Yadong, Li Shiping, Yan Ji, Xiong Hui, Xiong Siyu, Yu Wei, Zeng Wenbin, Zhang Fangyi. Recent developments of semiconductor pulsed power switch [J]. High Power Laser and Particle Beams. 2012, 24(4):771-775.
  • Graduate trainee thesis (contributed to the prize of Excellent Graduate Trainee): Zhang Fangyi. Development of the 150 kA Pulse Discharge Testboard, Hunan: CSR Zhuzhou Institute, 2011. (Since this thesis is too detail, it cannot be shared in this website.)