Resume

WORK EXPERIENCE

INNFOS Technology Ltd. – Beijing, China December 2017 – September 2019

Algorithm Engineer

Constructed simulated environments to performed dynamic analysis for various robotic designs.
Developed resilient dynamic control algorithm that offers control in all 6 degrees of freedom for quadrupedal robots.
Designed robotic all-terrain vehicle with dual robotic arms.
Provided real-time motion capture solution with wearable IMUs and implemented real-time teleoperation for humanoid
multilink robot with 34 degrees of freedom.
Developed and streamlined the dynamic parameters identification process for humanoid multilink robot body, used the
resulted dynamic model to implement collision detection and dynamic compensation.
Derived closed form inverse kinematics for 7 DOF robot arms as a team of two.
Solely responsible for developing and maintaining the control system software for the humanoid robot.

Laboratory for Computational Sensing and Robotics – Baltimore, MD December 2015 – September 2017

Development of Experimental Setup for Fiber Bragg Grating sensors— Research Engineer June 2017 – September 2017

Evaluate 3D shape sensors for dexterous continuum manipulators.
Design experimental setup in SolidWorks, manufacture components using laser cutters and 3d printers.
Program user interface in MATLAB to perform 3D real time reconstruction of needle deformation and integrate with
Arduino low-level control.
Evaluate the performance of shape sensors by comparing reconstructed shape to “ground truth” using computer vision

Collaborative Robotic System for Ultrasound Imagining— Research Assistant February 2017 – May 2017

Using collaborative robotics, examining ways to reduce the force a technician needs to apply during ultrasound imaging.
Calibrating the transformation between the robot and the ultrasound imaging plane.
Implementing Virtual Fixture in MATLAB to constrain robot motion.

Haptic Simulation for Femur Bone Drilling— Team Lead & Software Developer December 2015 – August 2016

Led a team to design a virtual training environment to simulate the femur bone drilling process for use by residents.
Created a virtual environment using CHAI 3D in Visual Studio.
Automated the segmentation of femur bone CT scans using MALAB to quickly filter patient data.
Constructed accurate mesh and voxel models using 3D Slicer and MATLAB to enhance simulation realism.
Developed methods to improve haptic feedback allowing users to distinguish the anatomy of a virtual femur bone.

da Vinci Robot Gravity Compensation –Research Assistant June 2016 – August 2016

Enhanced the functionality of the da Vinci Research Kit to simplify research using the da Vinci Surgical Robot.
Analytically determined the inertial parameters of the da Vinci Surgical robot in MATLAB.
Implemented gravity compensation on a da Vinci master arm using the ROS in a Linux environment.