ABOUT ME

I am currently studying in M.S. Robotic Systems Engineering at RWTH Aachen University. Before my journey to Germany, I worked on the research project "Robot-Assisted Photo Reminiscence" with Prof. Li-Chen Fu at National Taiwan University. We proposed a robot system that can leverage image information to proactively interact with elderly users. The work has been accepted to International Conference on Human-Computer-Interaction (HCII) 2021. Also, my past experience focused on animation and numerical optimization in robotics. While I worked as a robotics engineer at Chieftek Precision Co., Ltd., I built a robotic simulation software from scratch using OpenGL and Bullet Physics in C#, and the software supports to do animation and collision detection of robotic systems. Also, I am the first author of the patent-pending method about the 6 DoFs interactive marker and the build-in algorithm, which can be applied to teleoperation.

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EDUCATION

Sept. 2020 ~ Present

RWTH Aachen University M.S. Robotic Systems Engineering

Sept. 2014 ~ June 2018

National Tsing Hua University B.S. Power Mechanical Engineering

EXPERIENCE

July 2020 ~ Sept. 2020

National Taiwan University, Center for Artificial Intelligence and Advanced Robotics - Research Assistant

Sept. 2019 ~ June 2020

Chieftek Precision Co., Ltd. Taiwan - Robotics Software Engineer

July 2018 ~ Jan. 2019

LEISO Co., Ltd. Taiwan - R&D Engineer

Mar. 2018 ~ June 2018

LEISO Co., Ltd. Taiwan - R&D Intern

PROJECTS

Robot Simulator

  • Independently developed a motion simulator of robotic manipulators that can help detect collisions and visualize motions.
  • Combined left-children right-sibling tree data structure and DH convention, and utilized preorder traversal algorithm to draw and display assemblies.
  • Invented Single-Axis Dragging algorithm to operate joint space motion of a six-axis arm through simple click-and-drag.
  • Invented the patent-pending 6 DoFs interactive marker and the build-in algorithm, allowing user to manipulate the end-effector position and orientation of a six-axis arm effectively and intuitively.
  • Accomplished Damped-Least Squares method to solve the Inverse Kinematics problem numerically.

Keywords: Industrial Robot, Animation, Kinematics, Damped Least Squares, Collision Detection, OpenGL, Bullet Physics.

VIDEO

Six Axis Arm Stroke Measurement Optimization

  • Independently achieved the software that schedules a measuring procedure of a robotic manipulator, helping users generate optimal test paths for the measurement of DH parameters of a robotic arm.
  • Increased the efficiency of the measuring procedure by fifteen times with the guarantee of the optimum measurement result.

Keywords: Industrial Robot, OpenGL, Animation, Kinematics, Numerical Optimization, Collision Detection.

VIDEO DM

Intelligent Lower-Limb Exoskeleton

  • Pioneered an assistance device featuring with four-bar linkage prosthetic knee that fits the paths specified by the wearer. The robotic system can successfully visualize recorded motions in 3D space and provide gait training.
  • Accomplished an observer-based sensor fusion algorithm that uses the outputs from a 6-axis inertial measurement unit to estimate the ground-truth joint angles.
  • Successfully learned the relation between surface electromyography (sEMG) signals from lower-limb muscles and angular configurations of the knee joints by training Recurrent Neural Network, thus estimating the wearer’s body’s motions.

Keywords: Exoskeleton, sEMG, Kinematics, Animation, IMU, Sensor Fusion, Gait Rehibilitation.

POSTER CODE VIDEO

A Deep Visual-Semantic Embedding Model

  • Trained a linear transformation from pre-trained visual embedding to pre-trained text embedding.
  • Used cifar100 as data set and implemented Convolution Neural Network and Residual Network as a visual model.
  • Improved classification accuracy by 20.3%.

Keywords: DeViSE, Residual Network, Convolution Neural Network, Text Embedding.

REPORT CODE

Ball Bar Box

  • Pioneered a patent-pending product called Ball Bar Box (BBB) with Dr. Wei-Tai Lei. BBB is a measurement system with an accuracy of +/-2 um and can be used to measure motions errors of multi-axis machine tools and robotic manipulators.
  • Developed a measurement procedure that can decrease the measurement errors to the minimum.
  • Designed the mechanical components, the detailed mechanisms, and the measurement software of BBB.

Keywords: Measurement System, Socket Design, Double Ball Bar, Calibration, Circular Test.

DM

Mobile Soccer Robot

  • Designed the gripper mechanism with parallelogram linkages featuring with a larger workspace.
  • Designed the route planning algorithm that drives the mobile robot to grip the ball to the goal.

Keywords: Mobile Robot, ROS, Navigation, Route Planning, Kinamatics, Gripper.

VIDEO

Computer Numerical Control Software for a three-axis robotic manipulator

  • Successfully drived the robot arm to performed point-to-point positioning and linear/circular path motion.
  • Designed program modules including Graphic User Interface (GUI), Interpolator (INTP), Decoder (DEC), Data Link Interface (LINK) and Kinematic Transformation (TRAFO).
  • Accomplished a method of state machine to synchronize transition conditions and processes in difference modules.

Keywords: CNC, Industrial Robot, GM Code, Feed Scheduling, Kinamatics.

VIDEO

Motor Position Control

  • Achieved a position control system whose performance meets the requirement of specification.
  • Implemented a PID controller and the hall sensor decoder in a FPGA hardware.

Keywords: Digital Control System, FPGA, Hall Sensor, Motor Position Control.

VIDEO CODE

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