Weiyuan DENG Algorithm Engineer

Mapping and Localization

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Designed a mapping and localization system with multiple reflectors based on point cloud registration.

Optimized the grid map data processing module with KNN thus double the speed of map data processing.

Optimized point cloud registration algorithm and reconstructed code for simultaneous localization.

Due to the Confidentiality Agreement, the detail of the project would not be presented on the Internet.

Accurate Docking

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Developed a method for AGV to dock with goods rack by only classify three legs without extra feature.

Improved registration accuracy of docking module based on a single reflector feature (applying for patent).

Improved registration accuracy of docking module based on a V-shaped symbol (applying for patent).

Due to the Confidentiality Agreement, the detail of the project would not be presented on the Internet.

Velocity Control for Path Navigation

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Improved the deceleration performance of AGV with a smooth velocity S-curve

Controlled AGV to follow the planned path using Pure Pursuit Control method

Due to the Confidentiality Agreement, the detail of the project would not be presented on the Internet.

Magnetic Tracking System Calibration and Localization

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Developed a magnetic tracking system used least square method with Arduino and two magnetometers.

Musical Instrument Classification

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Classified five different instruments with Mel-Frequency Cepstral Coefficients and SVM.

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Song Classification for Robot Dancing

Implemented song classifier Dejavu based on Fast Fourier Transform.

Planned motion (capture with Kinect Skeleton Tracking) for humanoid URDF according to songs.

Card Classification

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The computer is able to classify different cards in real time with Machine Learning method like K-Nearest Neighbor, Support Vector Machine, Neural Netalgorithms, and Convolutional Neural Net (CNN) algorithms. Cross validation was used to verify the accuracy of the models we generated.

Baxter Robot Control and Shuffle

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The project used Baxter to perform a simplified version of the classic shell game with inverse kinematics and motion planning for the limb motion.

High Capacity Ball Feeder

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Designed a high capacity ball feeder with Creo.

Analyzed loading to varies structures with ANSYS.

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Plastic Crusher

Designed a plastic-recycling crusher with Creo.

analyzed loading to varies structures with ANSYS.

Lithium Ion Battery Optimization

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Found maximum power density of LIB with Finite Element Analysis.

Found heterogeneous grain structure of LIB with data analysis.

Recreated grain structure that maximize its power density with MATLAB.

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Arching Effect of Sand

Created 3D model for a sand pile and a silo ensiled with sand using PFC3D.

Analyzed force transmission between particles by means of Discrete Element Method.

Compared and analyzed the arching effect of the two models

Procedural Generation

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This project aims to procedurally generate the a flock of fish and posidonia oceanica, the underwater vegetation, at the ancient underwater archaeological site of Amathus in Cyprus. The project is implemented in Unity and is mostly used for virtual reality simulations for people who are not able to dive to the scene.

With this project, a virtual reality environment is presented. The picture opens on an underwater landscape with posidonia oceanica and rocks nearby. The main objective of this project is to provide users with the opportunity to fully explore the underwater environment while also providing them with the opportunity to learn about archaeology by walking on the sea floor and interacting with ancient artefacts. This could provide users with an immersive experience without compromising the preservation of the historic sites.

Procedural Generation

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This project presents a game-like social environment in Virtual Reality. The game starts inside a Dungeon which is guarded by a dragon, and requires two players two join the game. The main goal for the two players is to complete a series of missions and tasks by collaborating with each other and finally acquire the ability to beat the dragon in order to escape from the Dungeon.

Imagine Processing

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The Coursework presented the implementation of Face Morphing and Poisson image editing. The algorithm takes as input two portrait photos of different people. It then creates “in between” images by warping the pixels from the start image to the end image, while blending the colours.