Personal Projects

CoTiMo - Collision-Free Smooth Path Generation + TOPP + MPC

Zirui Zhang

Oct. 2024 - Nov. 2024

Code / Blog /

The A* algorithm is used to determine a heuristic path, followed by the application of the artificial potential field method to smooth the path while avoiding collisions. Then, Time Optimal Path Parameterization is employed to label the fastest time information under acceleration and velocity constraints. Lastly, Model Predictive Control is utilized to make the robot track the trajectory.

Intelligent Book Recommendation and User Interest Analysis System based on Factorization Machines⭐

2023 Rhino-Bird Middle School Science Research Training Program
Supervisor: Prof. Chuan Shi, BUPT

Jun. 2023 - Oct. 2023

Background / Code /

The project aims to develop an intelligent book recommendation system based on DSSM to improve the accuracy and personalization of public library services.

Swerve Controller - Dual Motor Drive Board

Zirui Zhang

Sep. 2022 - Oct. 2022

Schematic / Layout / Layout (bottom) /

This drive board powers a swerve module with two independent motors: one for velocity, the other for steering, delivering a maximum power of 240W (2 * 12V * 10A).

FRC Data Collection Software⭐

Zirui Zhang, Yue Peng

Mar. 2022 - Aug. 2022

Code / GUI /

The wechat miniprogram provides a separate account for every team to collect, upload, browse, contrast, analyze, and export data during the FRC match.

Balance Swerve - A Single-Wheeled Self-Balancing Omni-directional Mobile Platform

Liangyu Cai, Zihan Chen, Zirui Zhang, Junyong Lin, Yingpei Chen, Yiyang Lu, Jiacheng Xiao, Suqing He
Supervisor: Prof. Liang Chen, SCUT

Sep. 2021 - Mar. 2022

Patent /

The platform is equipped with an omni-directional wheel, driven by a dual-motor system and a gear transmission assembly. A balancing mechanism ensures stability, while the omni-directional wheel enables omnidirectional movement and rapid steering.

Robotics Competition

FRC 2024 Robot - Defiant⭐

FIRST Robotics Competition Team 6399 (9975)

Jun. 2024 - Aug. 2024

Background / Recap /

For FRC 2024 game rules, the mission of the robot is to collect the note and shoot to the speaker or to the amp.

FRC 2023 Robot - Yuan Bot⭐

FIRST Robotics Competition Team 8811

Jan. 2022 - Aug. 2023

Background / Recap /

For 2023 FRC Off-season China game rules, the mission of the robot is to collect and shoot the balls to the hub.

FRC 2022 Robot - Kylin

FIRST Robotics Competition Team 8011

*. 2022

Background /

For FRC 2022 game rules, the mission of the robot is to collect and shoot the balls to the hub.

FRC 2021 Robot - Kylin⭐

FIRST Robotics Competition Team 8011

*. 2021

Background / Recap /

For FRC 2021 game rules, the mission of the robot is to collect the power cell and shoot to the power port.

FRC 2020 Robot - Kylin

FIRST Robotics Competition Team 8011

*. 2020

Background /

For FRC 2020 game rules, the mission of the robot is to collect the power cell and shoot to the power port.

Course Projects

RRT Path Planning

Shenlan - Robotics Grasping and Manipulation
Supervisor: Dr. Wei Jing, CMU

Nov. 2024

Code /

Aircraft War Game

COMP 2611 - Computer Organization
Supervisor: Prof. Xin Li, HKUST

Nov. 2024

A* Path Planning

ELEC 3210 - Introduction to Mobile Robotics
Supervisor: Prof. Shaojie Shen, HKUST

Nov. 2024

Code /

Inverted Pendulum

ELEC 3200 - System Modeling, Analysis and Control
Supervisor: Prof. Ling Shi, HKUST

Nov. 2024

Magnetic Levitation

ELEC 3200 - System Modeling, Analysis and Control
Supervisor: Prof. Ling Shi, HKUST

Nov. 2024

Report /

Trajectory Tracking (MPC)

Shenlan - Numerical Optimization in Robotics
Supervisor: Prof. Fei Gao, Dr. Zhepei Wang, ZJU

Oct. 2024

Code / Blog /

EKF SLAM

ELEC 3210 - Introduction to Mobile Robotics
Supervisor: Prof. Shaojie Shen, HKUST

Oct. 2024

Code / Blog /

ICP Odometry

ELEC 3210 - Introduction to Mobile Robotics
Supervisor: Prof. Shaojie Shen, HKUST

Sep. 2024

Code /

Random Sample Consensus

Shenlan - Image-Based 3D Modeling
Supervisor: Prof. Peng Lu, BUPT

Dec. 2023

Code /

Knowledge Graph Construction

2021 Guangzhou Yingcai Middle School Science Research Training Program
Supervisor: Prof. Yi Cai, SCUT

Jan. 2022 - Aug. 2022

Background /