Education

MS in Photonics, National Yang Ming Chiao Tung University, Taiwan 2019/9 - 2021/6

  • Institute of Imaging and Biomedical Photonics, College of Photonics
  • Thesis: "Path Following and Obstacle Avoidance of Field Tracked Robot by Deep Deterministic Policy Gradient" Advisor: Prof. Shean-Jen Chen (陳顯禎)

BS in Electrical Engineering, National Taiwan Ocean University, Taiwan 2014/9 - 2018/6

  • Department of Communication, Navigation and Control Engineering, College of Electrical Engineering and Computer Science

Research Project Experience

Agriculture Autonomous Vehicles under Prof. Ken-Yuh Hsu (許根玉) and Prof. Shean-Jen Chen (陳顯禎), NYCU 2019/9 - Present
  • Implemented SLAM system via RGB-D camera to construct 3D model of the environments and do self positioning. 
  • Implemented pest detection and positioning system by integrating RGB-D image and YOLO neural network. 
  • Developed a deep reinforcement learning control system via deep deterministic policy gradient (DDPG) to achieve automatic obstacle avoidance. 
  • Integrated MATLAB Simulink, C/C++ and Python all together into ROS framework and built up the control system. 
  • Conducted obstacle avoidance simulation on Turtlebot3 in Gazebo under ROS. 
  • Achieved automatic obstacle avoidance in a real agriculture field with a lab-made agriculture vehicle. 
  • The results were reported by Common Wealth Magazine's Smile Taiwan (天下雜誌《微笑臺灣》) in 2020/12. 
Miniature Wavefront Sensing in IoT Devices under Prof. Shean-Jen Chen (陳顯禎), NYCU 2019/9 - 2020/9
  • Upgraded the wavefront computation to achievement real-time measurement in shack-hartmann wavefront sensor. 
  • Integrated a heterogeneous network with PCs, embedded systems, controller boards, and optical systems. 
  • The results were presented in the Taiwan Automation Intelligence and Robot Show at Taipei Nangang Exhibition Center in 2019, 2020, and 2021. 

Skills


Programming

  • C/C++
  • Python
  • Matlab/Simulink
  • Linux shell script
  • Robot Operating System (ROS)


Machine learning
  • YOLO object detection
  • Deep reinforcement learning
  • Deep Q-network
  • Deep deterministic policy gradient (DDPG) network

Robotic Sensing, and Control
  • Kinematic model analysis
  • RGB-D imaging
  • SLAM
  • Conventional control (PID, LQR, MPC, etc.)
  • Hybrid control (MP-RLC)

Reference


Shean-Jen Chen (陳顯禎)
Professor and Dean, College of Photonics
NYCU

Ken-Yuh Hsu (許根玉)
Retired Honorary Professor, Department of Photonics
NYCU

Chia-Ying Chang (張嘉熒)
Assistant Professor, Bachelor of Program in Scientific Agriculture
NPUST