Projects
The use of precision agriculture enhances management efficiency by revealing the phenotype of the plants. Compared to conventional forms, the robotic-based system can operate 24/7, acquiring plant information from a 3D camera. Further plant details are generated through our proposed algorithm.
We integrated an uncrewed ground vehicle (UGV) and a 6 DOF cooperative robot manipulator into a 9 DOF Husky UGV, which can explore an entire 2D map and perceive 3D space using the robot arm. A solar panel converts illumination energy to power the UGV's battery. A 2D-LiDAR and a depth camera are mounted on the UGV, responsible for navigation and collision avoidance. Currently, only a depth camera is equipped on the robotic end-effector, serving as the main source of environmental perception.
In our developed system, the Husky UGV is controlled by a global scheduler, determining which plant tasks will be executed next within a given period of time. The UGV moves to a given position, followed by plant point cloud reconstruction and a post-processing algorithm, from which the plant height and main stem are generated.
This report describes a novel robot that relieves the inconvenience of a performer while broadcasting or streaming. This robot is equipped with a tripod arm and a Kinect camera on a mobile platform, which is capable of tracking the performer's pose and always pointing the camera and microphone toward the performer. A human tracking system, including perception, planning, and control, is proposed and implemented in this work.
https://github.com/sciyen/NTU-Robotic-2021-Fall/tree/main/Team2/FinalProject
This internship involved utilizing a DSP (Digital Signal Processor) to access the peripheral EEPROM of a product, while also communicating with computer-side commands, executing the requests from the computer side and returning the status or data. This EEPROM is responsible for storing factory information, electro-surgical knife power parameters, and customer-defined preference settings for the device. This project, from research and development to design, was completed by me and my team members. I was responsible for outputting solutions for handling communication between the DSP, EEPROM, and the host side.
