Projects

Exploration and Implementation of Motion Planning Algorithm with Specified Optimization Goal

Jul 2019 - Sep 2019 Aqrose Technology, Beijing, China Reviewed and synthesized literature on variances of RRT* algorithms, posted a tutorial session on video blog. Implemented a modified BIT* Algorithm using OMPL in C++ on the trajectory planner module of a Fanuc robot to avoid collision; tested on OpenRave; achieved an increase of the average clearance by 100% with less planning time. Some Sample-based Planning Algorithms Source Code RRT biRRT RRT* BIT* biBIT* BIT* with clearance penalty A introduction to BIT* algorithm and the modified version with clearance penalty

July 1, 2019 | 1 minute Read

Footroller: Game shoes for the handicapped

Sep 2018 - Jan 2020 Advisor: Prof. Pin Tao Graduation Project for the Technology Innovation & Entrepreneurship Minor Developed a prototype of smart shoes mapping foot gestures to electronic device control in order to assist with the entertainment of the arm-disabled group Designed the interactive rules to transfer foot gestures to system instructions; implemented the hardware device sensing the actions and wrote a Python program to process data into system operations Led weekly group discussions and brainstorms Finished a 25-page report on design and implementation of the Footroller system; awarded Third Prize in 2019 China-US Young Maker Competition in Beijing Rendered Design and our prototype.

September 1, 2018 | 1 minute Read

ROS-based Baxter experiment platform

Sep 2018 – May 2019 in Intelligent Robot Laboratory, Department of Automation, Tsinghua University, with GIX Advisors: Ms. Xichun Ma and Prof. Zongying Shi Drafted the manual of development on Baxter, a two-armed robot that can be programmed for experimental use Awarded First Prize of 30th Student Laboratory Construction Contribution Award of Tsinghua University Developed a gobang playing project with C++, Python and MATLAB, where one can play gobang against Baxter; implemented and integrated modules including image processing via OpenCV, pieces picking and placing, and gobang AI Developed a pose imitation project with C++ and Python that allows Baxter with a Kinect camera to imitate people’s postures by skeletal recognition, pose mapping, etc.

September 1, 2018 | 1 minute Read

Image Processing Projects

Article Reproduce: Depth Synthesis and Local Warps for Plausible Image-based Navigation This paper aims to solve the problem that: Given a dataset with multiple RGB images for a scene, how to generate images from other view points? There are some techniques enable 3D reconstruction from images, but often fail on some parts where weren’t sampled enough and result in hollows. To address this problem, this article proposed a way by interpolation from similar neighbors.

December 1, 2017 | 2 minutes Read

Allergy Testing Master: The Histamine Receptor Based Whole-Yeast Sensor

Sep 2017 - Oct 2018 Tsinghua-A, The International Genetically Engineered Machine Competition(iGEM) 2018 Team Advisors: Prof. Xiaowo Wang, Prof. Zhen Xie Implemented a portable device based on Arduino to support fast in-vitro allergy test able to identify allergy via measurement of concentration of E. coil and histamine with light sensing; Drafted a manual on hardware design and usage; conducted performance tests for the measurement of OD600 and fluorescence Submitted to the iGEM 2018 as Team Tsinghua-A; awarded Gold Medal For more info, visit our team website

September 1, 2017 | 1 minute Read