At SIAT, I am developing a continuum magnetically controlled microrobot designed to navigate a fallopian tube model, with a forthcoming publication on this work. This microrobot, measuring 0.1 mm in diameter and 15 mm in length, is actuated by a 3D Helmholtz coil system, allowing for precise control within confined environments. Under various magnetic fields, such as rotating and oscillating fields, the robot demonstrates different propagation modes, showcasing its adaptability in complex, tubular settings. This ongoing research aims to expand the use of microrobots in minimally invasive procedures, with particular potential for targeted therapy within oviduct environments, where the narrowest regions can measure just 1 mm. 

During the COVID-19 pandemic, obtaining a pulse oximeter proved challenging, so I developed my own pulse oximeter for personal use. I utilized two LEDs (red and infrared) and a photodiode to alternately capture the intensity of light transmitted through my finger. I then wrote a C program to calculate the BPM and the oxygen saturation of my blood using Beer’s Law, incorporating coefficients from a commercial pulse oximeter company. Finally, I calibrated the results with data from my Huawei watch and it turns out the reading is acceptably accurate.

Led a specialized robot competition project as team leader, focusing on transforming WiFi-controlled electric cars into robots capable of executing competition tasks. Designed and implemented Arduino programs for dynamic control, WiFi connectivity, and communication protocols. Utilized dual servo motors for propulsion and developed steering control on the ESP32 C3 microcontroller. Implemented features like wall-following, Vive sensor-based position tracking, and infrared signal frequency tracking for autonomous actions.

Developed a JavaScript web program for remote control and autonomous mode switching. Assembled circuits for interacting with various sensors using ESP32 C3 microcontroller signals. Played a pivotal role in team collaboration, effectively delegating tasks, and ensuring smooth project progression. The project was successfully completed within a few weeks of dedicated teamwork, achieving all specified competition functionalities.

This project aims to develop a WiFi-controlled car equipped with an Ackerman steering mechanism seamlessly integrated with a proportional feedback control system. Serving as the team leader, I took charge of designing and implementing the code for the car's mobile base and ESP32 microcontroller. This encompassed the creation of the web interface, motor actuation, and the proportional feedback control. Additionally, I oversaw all aspects of circuit design and testing related to feedback control. During class competition, we won the first place (out of 34 groups) with a time record 28.52 seconds for 3  laps around the racing track.

According to Wiki, Waldo is a device which, through electronic, hydraulic, or mechanical linkages, allows a hand-like mechanism to be controlled by a human operator. The purpose of such a device is usually to move or manipulate hazardous materials for reasons of safety, similar to the operation and play of a claw crane game.

This project aims to implement such device and testify its reliability in controlling robot arm in 3 degrees of freedom. Link to GitHub repository

This is a team project involves the development of a user-friendly, self-navigate social robot, with a specific focus on aiding elderly individuals in their daily activities, such as cooking and farming, through remote operation. My responsibility within this project was to design and implement the mobility and loudspeaker function of the robot, utilizing ultrasonic sensors to guide its movement within domestic settings.

The goal of this project is to assist the medical startup team at Penn Health-Tech (PHT) in creating a conceptual prototype to improve the launch of their startup. I am collaborating with Dr. Eileen Y. Wang, Dr. Gabriel A. Arenas, and Dr. Jessica Chen. They are all OBGYNs at the Hospital of the University of Pennsylvania. Our objective is to develop a novel device, with the potential to decrease the expulsion rate of IUDs when placed postpartum. I actively engaged in PHT activities and utilized 3D modeling to construct the initial prototype. More details and pictures are not shown for confidential reasons.

This is my undergraduate senior design project that aims to test an optimized method to perform two-dimensional SO2 mapping over a targeted superficial human tissue by collecting image data under NIR spectroscopic versus images under other wavelengths and being able to distinguish the tumor tissue with normal tissue. I had the responsibility of designing a MOSFET circuit for the control of NIR LEDs and creating a 3D-printed enclosure to guarantee optimal device performance in low-light conditions. Additionally, I was involved in developing embedded algorithms that calculated NIR light intensity, pixel by pixel, in image reflected from human tissue.