Activity
995 followers
Experience
Education
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University of Pennsylvania
3.81
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Activities and Societies: Eta Kappa Nu Honor Society
computer vision, machine perception, machine learning, control theory, embedded systems, mechatronics
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Publications
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Orthogonality and Optimality in Non-Pheromone Mediated Foraging
International Conference on Swarm Intelligence
We describe the general foraging task, breaking it into two different subtasks: map-making and collection. Map-making is a task in which a map is constructed which contains the location(s) of an item or of items in the search area. Collection is the task in which an item is picked up and carried back to a central known location. We theoretically examine these tasks, generating minimal conditions for each one to be accomplished. We then build a swarm made up of two castes to accomplish this…
We describe the general foraging task, breaking it into two different subtasks: map-making and collection. Map-making is a task in which a map is constructed which contains the location(s) of an item or of items in the search area. Collection is the task in which an item is picked up and carried back to a central known location. We theoretically examine these tasks, generating minimal conditions for each one to be accomplished. We then build a swarm made up of two castes to accomplish this, theoretically motivating the design of the swarm. Finally, we demonstrate that the swarm is optimal in the class of swarms utilizing line of sight communication, and give performance measures for open and closed search spaces.
Other authors -
Courses
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Advanced Dynamics
MEAM535
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Advanced Robotics
MEAM620
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Electric and Magnetic Fields
ESE310
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Electrical Circuits and Systems I/II
ESE215/216
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Engineering Mechanics: Dynamics
MEAM211
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Engineering Probability
ESE301
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Fluid Mechanics
MEAM302
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Heat and Mass Transfer
MEAM333
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Intro to Dynamic Systems
ESE210
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Introduction to Mechanical Design
MEAM101
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Introduction to Robotics
MEAM520
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Learning in Robotics
ESE650
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Linear Control Theory
ESE505
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Machine Learning
CIS520
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Machine Perception
CIS580
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Machine Translation
CIS526
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Mechanics of Solids
MEAM354
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Mechatronics
MEAM510
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Non-Linear Systems and Control
ESE617
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Principles of Digital Design
ESE170
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Statics and Strengths of Materials
MEAM210
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Thermodynamics
MEAM203
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Vector/Tensor Analysis, Differential Geometry
ENM511
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Vibrations in Mechanical Systems
MEAM321
Projects
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Calico: A visual-inertial sensor calibration library
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Calico is a lightweight visual-inertial calibration library that allows for rapid problem construction, debugging, and tool creation. Unlike other codebases that are limited to standalone calibration tools for specific hardware setups, Calico is a flexible library that enables building and modifying custom tools to suit your hardware requirements. If your calibration problem aligns with our geometry paradigm, there is no need to modify the underlying optimization.
MIT License, source…Calico is a lightweight visual-inertial calibration library that allows for rapid problem construction, debugging, and tool creation. Unlike other codebases that are limited to standalone calibration tools for specific hardware setups, Calico is a flexible library that enables building and modifying custom tools to suit your hardware requirements. If your calibration problem aligns with our geometry paradigm, there is no need to modify the underlying optimization.
MIT License, source code available at https://github.com/yangjames/Calico -
Forward and Inverse Kinematics of PUMA robotic arm
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• Performed forward and inverse kinematics on 7-DOF PUMA robotic arm
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Haptic rendering of a virtual reality environment with SensAble PHANTOM robotic arm
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• Rendered various shapes and force fields with various physical properties and texture in virtual environment
• Demonstrated physical interpretation of a virtual environment using the PHANTOM haptic robotic arm
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Monte-Carlo SLAM
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Processed lidar, depth image, and odometry data to create a log-odds map of a humanoid robot's environment
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Non-linear position control of a quadrotor
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• Wrote a globally stable non-linear position controller for a quadrotor
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Unscented Kalman Filter for orientation tracking
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• Wrote a UKF for orientation estimation using accelerometer and gyro data from an IMU
Languages
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English
Native or bilingual proficiency
Organizations
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IEEE
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- Present
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