C++

Modular software architecture for Protection and Control in Substation Automation

Apr 2023 - Oct 2023(expected) ABB Schweiz AG, Baden-Daetwill, Switzerland Devise automatic benchmark scripts and investigate the performance of a real-time system Design and implement solutions for building decentralized modular architectures for real-time algorithms Some photos I can share: Coffee latte made by these machines and me :) Ping Pong Group Share cakes with interns

April 1, 2023 | 1 minute Read

Intelligent Optimization Algorithms

Use GA to solve TSP Jupyter Notebook An example output: Use GA to pour liquid Simulators Used: Box2D, LiquidFun Fitness curve across iterations Source Code Github

December 1, 2020 | 1 minute Read

Interdisciplinary Robot Competition

Feb 2022 - Jun 2022 School of Engineering, EPFL Professor: Auke Ijspeert Supervisor: Alessandro Crespi Coach: Kai Junge In this project, together with Jianan Mao and Ramy Charfeddine, we designed and implemented a soft-gripper robot to collect PET bottle in various terrains. We used a Raspberry Pi running a object detection model(EfficientDet TensorFlow Lite version) to detect the bottles, a Arduino Mega to control motors, servos and sensors to move to target waypoints without colliding with the obstacles.

July 1, 2020 | 2 minutes Read

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

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