I am a Senior studying Mechanical Engineering at University of Illinois
at Urbana-Champaign and my passion is making useful, easy to use creations. I am interested in
exploring the field of controls engineering.
Undergraduate Research: Robotic Soft Actuators
In my research lab, I have been working on a robotic octopus arm. The arm is constructed by
conjoining three silicone rubber tubes each with fibers wound at a particular angle. I can control
the arm's movements by adjusting the pressure within these tubes, allowing it to be positioned in
any
desired pose.
The group's objective is to create a mathematical model of the robotic octopus arm, which can then be
used to predict the arm's pose based on a new set of input pressures. To record the
arm's movements, we use 4-5 action cameras strategically positioned around it, capturing its motion
with the help of tracking markers attached along its length. We utilize computer vision to extract
the 2D pixel coordinates of the tracking markers, then apply the Direct Linear
Transformation (DLT) to convert these coordinates into real-world 3D positions.
As part of the DLT process, we conduct calibration by moving a precise grid of known dimensions
within the experiment zone, allowing the cameras to capture a perfect 3D grid of
coordinates. I laser-cut a clear acrylic board and applied green acrylic paint to create the grid.
Subsequently, I wrote a program utilizing OpenCV
and scikit-image within python to isolate and retrieve the centroids (in pixel
coordinates) of the green dots.
I extended the arm control script to incorporate joystick input and mapped these inputs to the
desired pressure adjustments for the silicone rubber tubes in the arm. This integration provides a
more intuitive and flexible means of controlling the robotic arm but also demonstrates possibilities
for teleoperation and interactive applications in various research scenarios.
Maze-Solving Segbot
For my Computer Controlled Mechanical Systems course, my team of four developed a maze-solving robot
using the Texas Instruments F28379D LaunchPad board as a capstone project.
The robot balances on two wheels and procedurally navigates mazes constructed from foam walls,
guided only by 3 IR sensors. It
uses an MPU-9250 IMU for acceleration and gyroscope data and rotary encoder feedback from the DC
drive motors to maintain balance throughout its pathing.
The robot operates in three distinct movement modes: maze traversal mode, turning mode, and linear
move mode. In maze traversal mode, it slowly moves forward while using PI control on the left and
right IR sensor inputs to center itself between the walls. In turning mode, forward motion is
suppressed and only rotation is allowed. In linear move mode, turning is suppressed to allow
straight line motions.
A higher level pathing planner uses a depth-first recursive algorithm to solve the
mazes. It uses the linear move and stationary turns to center iself at detected junctions and
systematically explores down each available path,
starting with the leftmost branch. If the left branch reaches a dead-end or has been fully searched,
the robot returns to the junction, reorients forward, and proceeds down the next unexplored path.
This continues until sensing no walls on all 3 IR sensors, indicating the goal is reached.
Eco Illini Supermileage: G5e Battery Pack
I created a brand new battery pack for the G5e prototype vehicle of Eco Illini
Supermileage, a Registered Student Organization at UIUC. Each year the club competes in
the
Shell Eco Marathon to achieve the most efficient prototype car.
The updated pack (right) is visibly smaller than the previous generation (left), yet exhibits 25%
less weight despite its 33.3% greater volumetric energy density.
The pack consists of 13 Samsung 40T 21700 lithium-ion cells in series
achieving 187.2 Watt-hours of energy. The cells are packed hexagonally into a 3D-printed casing
which was modeled using Fusion360 and printed in PLA.
Industrial Design
I discovered a passion for Industrial Design while experimenting with
foam prototypes. Crafting ideas and bringing them to life via tactile means allows me to transform
my creative visions into tangible realities.
Computer Mice
I: Elegance and Symmetry
II: Balance
III: Comfort and Freedom
prototypes crafted from polystyrene foam
Magnetic Clothes Hanger
The hanger isn't just for people with disabilities - it makes hanging
clothes easier for anyone. The prototype excels with lighter shirts but fails to hold up heavier
clothing such as hoodies and thicker jackets. In order to bear heavier loads, a proper locking
mechanism may be necessary.
Art
Chinese Calligraphy
I began taking private Chinese Calligraphy lessons in the sixth grade
under a family friend. I started off with the print script (正楷) font to master the fundamentals, and
then later learned to express myself in cursive (行書) and artistic/imaginative (草書) character styles.
Here is some of my artwork below.
下江陵 Xia Jiangling - 李白 Li Bai
This iconic poem by Li Bai portrays his observations of nature on his way down the Yangtze River to
Baidi City. Li Bai experiences the hot and noisy jungle environment, which is reflected in the
faster brushstrokes of my cursive style piece.
On the left is my rendition of the poem in print script. Written when I was in junior high, the piece
demonstrates my technical skill with the brush and my fundamental knowledge of the different types
of calligraphy strokes.
On the right is the same poem revisited with a cursive style. Written in
high school, I wanted to add character and life to a piece I had written in monotone before.
立春偶書 Li Chun Ou Shu - 張拭 Zhang Shi
This poem by Zhang Shi describes the rebirth of life that results from the
seasonal transition from winter to spring. I used a cursive style with more animated brush strokes
to symbolize the sweet youth of spring, as if the brush was dancing energetically.
Paintings
Since the seventh grade, painting has been my way of training my intuitive
sense of spacial awareness. I paint colorful scenery, architecture, animals, and humans. My teacher
retired in my junior year of high school, and I continued on my own.
Horizon
I grew up watching television shows like NOVA on PBS and How the Universe
Works on the Science Channel, and always wondered what sort of spacecraft it would take to for
humanity to live comfortably far from planet Earth.
Weeping Elephant
Humans have a relatively easy time adjusting to climate change
from air pollutants, but other animals find it much more difficult. The extinction of
minor species ripple through the food chain, exposing other species to
vulnerability.
Young Newton
As an aspiring engineer, I owe Sir Isaac Newton
immensely for his contributions to modern mechanics. This is the famous moment when he was struck by
a falling apple and hypothesized his theory of Gravity.
Backyard
After a particularly heavy overnight rain (for a Californian, of
course), the backyard of my home was draped with a thin layer of water, giving the illusion that a
river ran through our garden. Surprised by this variation on a familiar scene, and I reimagined my
garden as a river environment.
West Egg
Fire has fueled humanity's conquest of the planet. Humans have conquered
the lands and the oceans using combustion engines, harnessing
the firepower of rapid, controlled explosions. Humans have conquered the night with
electric light bulbs, powered by the burning of hydrocarbons. Mankind's harnessing of the elemental
power of fire quite literally propels us through industrial innovation.
Mom and Dad
The two fish resemble the traditional balance of
Yin and Yang energies, but as a biracial person, they also symbolize my family’s multicultural
composition with both American and Taiwanese influences.
Music
I dabbled with the piano by ear during elementary school, but began more
serious music training later in junior high. The year before high school I picked up violin and
joined the Homestead High School Orchestra the following year. I also played piano for the Homestead
Symphony Orchestra in my Junior and Senior years of high school.
Piano
Gershwin Prelude No. 3
Although the shortest piece in my Certificate of Merit Panel Audition
repertoire, Gershwin's third Prelude was a challenging piece because of its faster tempo
and contemporary style.
Schubert Impromptu Op.90 No.4
Schubert Impromptu Op.90 No.4 is one of the composer's most beloved
impromptus for its exercise on tone quality and dynamic range. Playing this piece demands even
tone quality and precise fingers.
Bach Fugue No.2 in C Minor
Bach's pieces are regarded as one of the most healthy ways to train hand
dexterity and independence. As my teacher tells me, Bach is about making it look easy even when it
makes you feel like a beginner again. It's like eating kale—palatable in controlled
quantities, but too
much and it feels like a kind of punishment.
Mozart Piano Sonata No. 5 in G Major
Mozart Sonatas are like vanilla ice cream: basic, sweet, and nothing like real vanilla. One must
channel
their inner snobbish, rich nobility to embody Mozart's music.
This is bold and this is strong. This is italic and this is
emphasized.
This is superscript text and this is subscript text.
This is underlined and this is code: for (;;) { ... }. Finally, this is a link.
Heading Level 2
Heading Level 3
Heading Level 4
Heading Level 5
Heading Level 6
Blockquote
Fringilla nisl. Donec accumsan interdum nisi, quis tincidunt felis sagittis eget tempus
euismod. Vestibulum ante ipsum primis in faucibus vestibulum. Blandit adipiscing eu felis
iaculis volutpat ac adipiscing accumsan faucibus. Vestibulum ante ipsum primis in faucibus lorem
ipsum dolor sit amet nullam adipiscing eu felis.
Preformatted
i = 0;
while (!deck.isInOrder()) {
print 'Iteration ' + i;
deck.shuffle();
i++;
}
print 'It took ' + i + ' iterations to sort the deck.';