CV

Robotics Engineer

Graduate Research Assistant

• Architecture Development
  • Investigating performance boosts in Instance Segmentation by integrating the Segment Anything Model (SAM) into the Unseen Object Instance Segmentation and Tracking (STOW) framework.
• Synthetic Data Generation
  • Expanded synthetic imagery training dataset generated by utilizing Scanned Objects by Google Research and NVISII computer graphics tool to simulate varying real-world scenarios with different background configurations (bin ratio aspect ratios and textures, additional neighboring bins); various object arrangements (horizontal/vertical stacking, random placement/reorientation).
  • Improved the average precision of the computer vision framework for Warehouse Picking Robots on the expanded 140K-image datase from 0.424 to 0.646 overall, and from 0.336 to 0.573 for stacked bins.
• Simulation
  • Enhanced simulation environment precision and robustness by revising URDF/Xacro/XML/SDF files and creating a single source file for all pod models, thereby expanding the system’s versatility.
• Motion Planning & Control
  • Optimized pod positioning relative to the robot workstation by automating test-run procedures and refining control and motion planning MoveIt parameters, such as collision checking frequency and c-space discretization.
  • Reduced UR16e reachability failures from 20/1600 to 1/1600.

Graduate Teaching Assistant

• Revised course materials on C++ fundamentals such as data structures, Abstract Data Types, STL containers, and State Machines using Docker containers, Google Test unit testing environment, and Doxygen API documentation.

Graduate Teaching Assistant

• Guided students in implementing Autonomous Vehicle stack on NVIDIA Jetson Nano-based MuSHR rally car.
• Prepared course materials on Probabilistic Robotics fundamentals such as Control (PID/MPC), State Estimation (PF/EKF), Path Planning (Dijkstra/PRM/RRT/RRT*/A*), Perception (Pinhole/Stereo/Depth Camera, CNNs).
• Developed a Raspberry Pi based mechatronic gate featuring an ultrasound distance sensor, 16x2 LCD for IP and distance display, a servo, and a buzzer to create a ROS service-managed obstacle for the course’s final race.

Robotics Engineer Capstone

• Set up workstations in Gazebo, RoboDK, and RoboGuide with UR5e, UR16e, and Fanuc CRX 20-iA/L.
• Generated motion plans using MoveIt and other built-in packages to automate the inspection.
• Completed on-site Core Training and online Core, Advanced, Application Training for UR e-series.

Mechatronics Intern

• Mechanical Engineering. Utilized CAD and FDM/FFF 3D printing technologies on Tevo Flash/Tornado 3D printers, employing diverse filaments (PLA, PETG, TPU, Nylon), to optimize the robot's frame for functionality and portability.
• Electrical Engineering. Designed dual-sided PCBs for the robot's base and controller utilizing Altium Designer, and manufactured using photolithography with SLA 3D printer (Anycubic Photon S) and Ordl Alpha 350 dry film.
• Software Engineering. Developed software for the robot base (6 servo motors, nRF24L01 module) and controller (nRF24L01, OLED 128x64, 2 joysticks) using STM32F103 MCU and State Machines.

Autonomous Robotics

• Control. PID and MPC (Model Predictive Control).
• Localization. Particle Filter (PF) and Extended Kalman Filter (EKF) with Odometry / Velocity Motion and Beam / Landmark-based Sensor Models.
• Path Planning. RRT / RRT* / A* / LPA*.
• Reinforcement Learning. Behavior Cloning, DAgger, and Policy Gradient.
• Simulation environments. ROS, PyBullet and MuJoCo.

TetrArm

• Gained fluency in testing code across various scenarios using Docker container images.
• Leveraged STL containers, including vectors, maps, and deques to create custom ADTs.

Numerical Methods for Mathematical Modelling

• Gradient Descent | Multiparameter Optimization, Cubic (Complex Arguments) and Differential Equations
• Structural Relaxation | Molecular Dynamics (2 Fullerene Collision), Molecular Transformation (Azulene > Naphthalene), Mechanical Properties (Stress, Strain)
• Monte-Carlo | Area Calculation
• Simpson's vs Trapezoid vs Rectangular Rules | Indefinite Integrals
• Iterative Method | Nonlinear Function's Roots

Programming MCU ATmega8535

• Completed 6 projects by independently studying fundamental principles and MCU functionalities from the datasheet and instruction-set manuals.

Mechanical Engineering with CAD

• Completed 3 projects through extracurricular interaction with the instructor.
• Awarded with the Certificate of Advanced Level User of T-FLEX CAD.

Professional Master's Program in Electrical and Computer Engineering

• Activities
  • UW + Amazon Science Hub
  • Sensor Systems Lab
  • Robotics and State Estimation Lab
• Coursework
  • EEP545 "The Self-Driving Car, Introduction to AI for Mobile Robots"
  • CSE571 "AI-Robotics"
  • EEP520 "Software Engineering for Embedded Applications"
  • EEP598 "ENGINE Capstone"
  • CSE546 "Machine Learning"
  • EEP596 "Deep Learning"

Nanodegree in Robotics Software Engineering

• Built a custom world/robot from scratch in a Gazebo, and created ROS nodes/services/plugins to program the robot.
• Applied and fine-tuned Extended Kalman Filter and Adaptive Monte Carlo Localization packages to localize the robot.
• Built a map environment using the Occupancy Grid Mapping algorithm and RTAB-Map package.
• Simultaneously mapped and localized a robot relative to the map with Grid-based FastSLAM and GraphSLAM.
• Navigated a dynamic environment with obstacle avoidance using SLAM and A* graph-search algorithm.

Bachelor's Degree in Electronics and Nanoelectronics

• Activities
  • Physics Olympiad Team
  • Sports Gymnastics Team
  • Student Council / Volunteer Center
• Coursework
  • Programming in C / Python
  • Linear Algebra / Probability
  • Instrumental Methods for Mathematical Modelling
  • Analog and Digital / Solid-State Electronics
  • Nuclear / Atomic / Molecular / Statistical Physics
  • Thermodynamics / Optics / Electromagnetism
  • Classical / Theorethical / Quantum Mechanics
  • Computer Aided Design in Mechanical Engineering