Autonomous Robotic Exploration and Mapping of Smart Indoor Environments With UWB-IoT Devices

Research Project, Purdue C-Design Lab, Jun 2018 - Sep 2018  [Paper] [Project] 

Tianyi Wang*, Ke Huo*, Muzhi Han, Daniel McArthur, Ze An, David Cappeleri, and Karthik Ramani

AAAI Spring Symposium 2020

Dynamic SLAM

Research Project, UCLA VCLA, 2020 

Implemented a SLAM system that can work in dynamic environment and densely reconstruct the static background, based on ORB-SLAM2 and Voxblox library.  The ORB features and point cloud of dynamic objects are removed using semantic segmentation and optical flow.

Image Reconstruction with Deep Generative Models 

Course Project, UCLA STATS 232A,Winter 2020 

Implemented a deep generative model for image reconstruction and synthesis by jointly learning a generator network and the latent variables of observed images. Markov chain Monte Carlo (MCMC) method is used to sample from the intractable posterior distribution of latent variables.

Impedance Control of a Window-cleaning Robot

Course Project, UCLA MAE 263C, Spring 2020  [Slides]

Designed  an  impedance  controller  of  a  window-cleaning  robot  (UR5)  in  MATLAB Simulink, and validated the performance via dynamic simulation in CoppeliaSim.

Automated Lane Change via Deep Reinforcement Learning

Undergraduate Thesis, STAR Lab at UW, 2019  [Thesis] 

Developed a pipeline for lane change in autonomous driving, including model-free reinforcement learning algorithms (DDPG, RDPG) for motion planning, and an iterative-LQR module for low-level controls.

Safe Motion Planning of Manipulators in Dynamic Environments

Undergraduate Research Project, Oct 2018 - Feb 2019  [Code]

Reimplemented an optimization-based motion planning framework for dynamic obstacle avoidance  of  a  Kinova  Jaco  manipulator.   The  framework  consists  of  two  parallel  modules:  anMPC-based long-term planner, and a single-step safety planner based on Safety Set Algorithm. The original paper by Prof. Changliu Liu is here.

Application of Control Theories on Mechatronic Systems

Undergraduate Course Project, System Dynamics and Control at THU, May 2018

Applied PID, ILC, LQR, and ZPETC control theories on trajectory tracking control of linear  motor  and  positioning  control  of  single/double  inverted  pendulum  (simulation  and/or experiment).

Print Head Design of a Self Propelled Ink Deposition Robot

Course Project, UCLA MAE 294A, Winter 2020  [Report] [Slides]

Led a team of 9 students to design a 6-DOF complaint print head.  We designed the complaint mechanism and actuation system, CAD the design, and validated it using finite element analysis (FEA).

We won the Best Design of the class.

Design of a Mechatronic Pascal Calculator Exibit with Multimodal User Interfaces 

Undergraduate Course Project, Product Design at THU, Feb 2018 - May 2019  [Project]

Led a team of 7 students to design and prototype a gigantic mechatronic Pascal Calculator Exhibit (1150*1500*2100mm) for CHINA SCIENCE AND TECHNOLOGY MUSEUM. The exhibit can accept input modalities of pushing buttons and using a handwheel, and have visual and audio outputs.

Design of a Smart Car Model

Undergraduate Course Project, Mechatronic System Design Practice at THU, July 2017 

Designed and implemented a smart car model with robot arm grasping, vision-based line tracking, ultrasonic distance measurement, photoelectric velocity measurement and Wi-Fi communication based on STM32 Microcontroller.

Biomimetic Design of Morphing Nose Cones Based on Structure of Honeybee Abdomen

Undergraduate Research Project, THU, 2017

Designed several novel morphing nose cones of aerospace vehicle with hybrid structure inspired by structure of honeybee abdomen,  analyzed nose cone’s mobility based on screw theory, analyzed its kinematics performance, and numerical solution with MATLAB.