Python

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

Fixed-base Manipulator Throwing

Sep 2022 - Jan 2023 at Learning Algorithm and System Laboratory(LASA), EPFL In short Adapted current mobile-base solution to fix-base manipulators and accelerated the algorithm Explored the bottle flip change with a robot arm(FRANKA EMIKA Panda) Mobile Base Fixed Base Bottle Flip For more detail Report, Code Introduction Throwing is a dynamic manipulation strengthening a given robotic manipulator by causing motions outside its workspace [4]. This ability is highly desirable for industrial applications.

September 1, 2022 | 3 minutes Read

Quadrupedal Locomotion via Central Pattern Generator(CPG) and Reinforcement Learning(RL)

Overview In this project, we control the locomotion of a quadrupedal robot via CPG and RL respectively. The CPG controller generates different gaits according to predefined parameter sets and keeps balance after tuning, which . The maximum speed reached with the gait pronk, whereas the fastest gait for real dogs is rotatory gallop. In our opinion, for a faster locomotion with simple CPG, more sensors are needed to keep balance and seize the right moment to swing.

December 30, 2021 | 2 minutes Read

Play Soccer with Thymio

This is a project in course Basics of mobile robotics with Chengkun Li, Georgios Apostolides and Lucas Represa. In this project the goal is to combine vision, path planning, local navigation, and filtering in order to make Thymio robot navigate trough a map towards a goal. A Thymio breaks through the opponents and shoots. Check our Slide for more detail. Souce code can be found in Github Overall Framework

December 15, 2021 | 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

Fishing in Starbew Valley using Reinforcement Learning

This is a in-course project for Introduction to Artificial Intelligence. I chose this mini game in Starbew Valley as the target to learn. The Game In this minigame, a fish-like icon moves up and down inside a vertical space. The player controls a green bar, which ascends while the left mouse button is pressed and drops while it’s not. The green bar bounces when it reaches the bottom boundary of the minigame unless a Lead Bobber is equipped.

December 31, 2019 | 2 minutes 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