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portfolio
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projects
Automated Precision Control System for Omni-Directional Wheel Robot and Ring-Shaped Object Launcher
Date:
- Designed an embedded control system for an omni-directional wheel robot, enabling seamless motion control and effortless coordination across various coordinate systems.
- Developed a control program for a ring-shaped object launching and retrieval mechanism, achieving exceptional precision in repetitive shooting scenarios.
- Implemented a binocular depth algorithm to identify shooting targets, calculate target positions, and determine ballistic trajectories. This automation facilitated high-precision accuracy in hitting targets.
Integrate SLAM and Path Planning for Semi-Autonomous Mobile Robot Based on 3D LiDAR and Object Recognition using YOLO-V8
Date:
- Engineered comprehensive robot navigation algorithms employing 3D LIDAR data, utilizing the LIO-SAM algorithm. These algorithms facilitated robot localization and efficient path planning.
- Devised an algorithm combining YOLO-V8 for object detection and Kalman filtering for improved accuracy in predicting robot motion trajectories, elevating the precision of position and attitude recognition.
- Integrated cutting-edge 3D LIDAR-based localization, LIO-SAM algorithm, YOLO-V8 object detection, and Kalman filtering to create a holistic and automated system for advanced robot navigation and motion trajectory prediction.
Developing a Middle-Level Library for Robot Control based on STM32 HAL Library
Date:
- Orchestrated team preparations and participation in the RoboMaster robot competition, defining the annual competition strategy and guiding the team towards success.
- Designed an embedded middle-level library, implementing versatile control algorithms for diverse scenarios including motion Kalman filtering and McNum wheel/steering wheel chassis solutions.
- Spearheaded the creation of diverse libraries such as motor, IMU, custom controller, and PC communication protocols, enriching the project’s foundation.
- Engineered infantry robot motion system control code, while integrating an automatic aiming system. These enhancements elevated the functionality and performance of the robots for the competition.
Design an OpenCV-based Automatic Shooting System with Target Acquisition and Ballistic Prediction
Date:
- Spearheaded the development of an OpenCV-centric automatic targeting system tailored for infantry/hero robots. Employed cutting-edge computer vision techniques to streamline target identification.
- Formulated algorithms to calculate camera-to-target distances for both monocular and binocular vision. These calculations enabled precise deck identification, trajectory prediction, and armor plate targeting.
- Successfully crafted embedded programs for sentinel robots, facilitating cloud-controlled chassis movement and vertical adjustments. This pivotal development enabled seamless cloud-based control and automation of sentinel robots.
- Innovated a fully automated sentinel aiming system that integrated automatic movement and accurate targeting. This achievement marked a significant stride in enhancing the sentinel robots’ functionality, optimizing their ability to engage and neutralize enemy robots.
Robot Swerve Module Control and Sensor Integration Design
Date:
- Enabled seamless motion control for R1 and R2 robots by establishing an intermediate library and project framework rooted in the RM project.
- Devised a cost-effective, high-precision rudder wheel absolute angle positioning system utilizing a ring encoder. Employed software algorithms in tandem with the encoder for multi-turn positioning accuracy.
- Seamlessly combined hardware innovation, featuring ring encoder technology, with sophisticated software algorithms. This convergence resulted in enhanced motion control capabilities for the robots and precise rudder wheel positioning.
Enhanced Ship Route Planning Algorithm with ENC Vector Maps
Date:
- Designed an advanced algorithm that directly utilizes ENC vector data, eliminating inaccuracies from raster map conversions.
- Integrated a dynamic constraint model based on ship motion characteristics, ensuring safe navigation and accurate trajectory tracking.
- Optimized the algorithm, achieving a remarkable 50% reduction in time cost and delivering shorter navigation routes compared to RRT and RRT* algorithms
publications
Security Patrol Robot Based on McNamee Wheel (Patent Number: CN116620448A)
Published in , 2023
This is a patent for a McNamee chassis robot.
A Novel Algorithm for Ship Route Planning Considering Motion Characteristics and ENC Vector Maps
Published in Journal of Marine Science and Engineering, 2023
This paper is about an innovative RRT* based ship navigation algorithm
Recommended citation: He, Q., Hou, Z., & Zhu, X. (2023). A Novel Algorithm for Ship Route Planning Considering Motion Characteristics and ENC Vector Maps. Journal of Marine Science and Engineering, 11(6), 1102. https://www.mdpi.com/2077-1312/11/6/1102
talks
Talk 1 on Relevant Topic in Your Field
Date:
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Conference Proceeding talk 3 on Relevant Topic in Your Field
Date:
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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