A Brief Introduction of My Research and Work Experience

1. A Brief Introduction of
My Research and Work Experience
Owen (Chih-Hsuan) Chen
owen.chchen@gmail.com
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2. Self-Introduction
Industry Experiences:
• Nobleo Technology, Robotic Software Developer, the Netherlands
– 8 months experience in computer vision for autonomous vehicles.
• Fraunhofer IPA, Research Associate, Germany
– 2 years experience in computer vision for service robots.
• HIWIN, Embedded system and Software Engineer, Taiwan
– 2 years experience in manipulation for industrial robots.
– 1 patent issued (US/JP/TW), 1 patents submitting.
• HP, Technical Lead, Taiwan
– 3 years experience in the cloud server industry.
Academic Experiences:
• Master – Yuan Ze University, Electrical Engineering, Taiwan
– Focus on humanoid robot design and control.
– 1 Journal paper, 3 conference papers.
– First Prize Winner at Asia FPGA contest.
• Bachelor – Chien Hsin University, Electronic Engineering, Taiwan
– Major: Control system / System-on-Chip design.
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3. What have I done
• A. Industrial Robot
• B. Service Robot
• C. Humanoid Robot
• D. Other Projects
– Two-Wheeled Robot
– Wafer Aligner Controller
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4. A. Industrial Robot
• ARM-based embedded system for controlling
6-axis industrial robot in grinding application.
• Dynamic modelling and friction compensation
– Torque feedforward control
• Compliance Control
– Gravity compensation and auxiliary force.
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ROS Controller
6-axis
Robot
Descartes
Off-line On-line
IK-hint

5. B-1. Service Robot -3D SLAM
• Dense 3D Reconstruction with an RGB-D
Camera for Mobile Robot.
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- 2 authors, 4 ppl cooperation
- Develop on ROS (C++)
- Run on real time application
- Source codes available on GitHub

6. B-2. Semantic 3D SLAM
• Semantic Segmentation using deep learning
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- 2 authors cooperation, 3 ppl cooperation
- Using PyTorch (Python)
- Test on Nvidia Jetson TX2

7. B-2. Semantic 3D SLAM
• Dense 3D Reconstruction with an RGB-D
Camera for Mobile Robot.
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- 2 authors cooperation
- Using PyTorch (Python) + ROS (C++)
- Test on Nvidia Jetson TX2 or Jetson Xavier

8. B-3. Service Robot
• The ROS-based control systems for the internal
mechanical structure.
8https://www.youtube.com/watch?v=dQ5p0h_-p4M&index=115&list=PL3WRYBJ-v8JFg8x3a9X7OaKyyqQvMl44V&t=2m55s
- Cooperation with 5 members
- Using Python
- Source code available on GitHub

9. B-3. Service Robot
• Establish lightweight dual-arm robot with ROS.
– Applications in service industries.
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MoveIt
ROS Control
ROS CANopen
Master
API
Real HW
CAN Bus
Gazebo
- Cooperation with 3 members
- Using ROS (C++)
- Test in Gazebo and Real robot

10. C. Humanoid Robot
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https://www.slideshare.net/ChihHsuanChen2/intelligent-
control-systems-for-humanoid-robot-master-thesisowen-
chihhsuan-chen
- Cooperation with 2 members
- Using NIOS II (C programming) +
FPGA (Verilog)

11. Intelligent Control Systems
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12. First Prize Winner -
2009 Asia FPGA Design Contest
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13. Appendix
• Implementation of Zero Moment Point
• SoPC System Block Diagram
• System Architecture of Humanoid Robot
• HP Experiences
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14. Implementation of Zero Moment Point
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15. Embedded System Design
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16. System Architecture of Humanoid Robot
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Nios II CPUs PWM Generators
16bits A/Ds
Math Function
(Lookup table)
PLLs

17. E. HP Experience- ProLiant Moonshot
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Gateway
Server
• Software Defined Server

18. Thanks for your time
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