This is a research project of my Ph.D. work at Boston Univeristy. In this research project, I researched on safety guaranteed control theory for systems with high relative degree, found sufficient conditions for the feasibility guarantee of safety-critical control problems under tight control bounds using control barrier functions, developed safety guaranteed optimal control strategies for systems that are required to meet complex temporal logic specifications, and employed machine learning techniques to improve problem feasibility robustness in unknown environments.

Selected application 1: autonomous driving (left video). The autonomous vehicle tracks the lane center line (dashed line in the video), while avoiding all parked vehicles (pink boxes in the video) along the road.

Selected application 2: quadrotor safe exploration (right video). The quadrotor automatically reaches some pre-defined goals, while avoiding the obstacle (a superquadratic) and stablizing its own attitude.

Ensured all CAV traffic

Left video: human-driven vehicles in Vissim.

Right video: optimally controlled CAVs with safety guarantee under the proposed framework

This is a research project of my M.S. work at Institute of Automation, Chinese Academy of Sciences. My researches focused on transmission design for Maxon DC motor-based coaxial transmission system (left figure), mechanism design of low inertia legs with superficial digital flexor (SDF) and the quadruped overall structure (right figure). I also developed a control GUI based on C++ for the quadruped robot, and studied gait transitions and adaptive locomotion for the quadruped robot.

This is a research project of my M.S. work at Institute of Automation, Chinese Academy of Sciences and State Grid of China. In this work, I designed three parallel grippers for a manipulator, studied on high precision vision positioning for part assembly, and finished manipulator programming and experiment for production test.