Multirotor Flight Test Platform

Hardware:stepper motor,driver,arduino controller,switching power supply,bluetooth,slider,3D printed component,profiles
Software:Visual Studio,Arduino,Android,C++

DroneTester is an open source and flexible test platform for unmanned multirotors. Operators can implement various experimental researches for multirotors on this platform, such as flight control, autonomous take-off, autonomous landing, vision-based object tracking, and other sensor-related experiments. More info can be found in Dronetester。

vision-based quadrotor

Hardware: motor,driver,MWC,arduino,sonar,camera,bluetooth,3D printed component,profiles
Software:Visual Studio,MultiWii,OpenCV,C++

Vision-based quadrotor, including the design of 3d structure of quadrotor, material processing and building. I have developed the target follow function and sonar based autonomous taking-off and landing.

VR English Learning Application

Development Tools:Unity3D,C#,Linux,Java

An VR English learning application, help the user to learn English by virtual reality technical. Currently there are visa interview scene and speech scene. And I am responsible for the push server and avatars control in the scene, including motion and emotion control, as well as the mouth match.

ROS robot arm

Development Tools:ROS，C++

This project focus on the motion planning of robot arm based on ROS-industrial. The main work is to grab and move object by the gripper.

4finger-gripper

Hardware: AX-12 steering engine,Arduino,3D printed component,pully
Software:ROS,Arduino,C++

A 4finger-gripper based on the open source project by standFord.

music-pedometer

Hardware: Arduino,accelerometer,music module,3D printed component
Software:Arduino，C++

The phone is too heavy while running, so I make this music-step product. It can be used as MP3 and running distance recorder.

Blimp

Hardware: Arduino, 130motor,Lego component,ballon
Software:Arduino, C++, Android

The blimp airship can be controlled by android App, it can move forward and turn in the air.

A Flexible Test Platform for Multirotors
Liu Yao, Zhang Xinyu
(submitted)

In this paper, we present a flexible and open source test platform for unmanned multirotors. Operators can carry out many experimental research under this platform for multirotors, such as take-off, landing, vision-based object tracking, and other sensorrelated experiments.

Comparing Two Continuous Collision Detection Algorithms on CPU and GPUs
Liu Yao, Zhang Xinyu
International Conference on Virtual Reality and Visualization (co-located with ChinaVR), September 23-25, 2016, Hangzhou

In this paper, we prove that these two fast filtering algorithms nearly equivalent. We compare their performance on CPUs. We extended both algorithms to GPUs and further compare their performance using dynamics simulation for cloth.

A Fast Algebraic Non-Penetration Filter for Continuous Collision Detection using Vincent Theorem
Zhang Xinyu, Liu Yao
Journal of Graphical Models, 2015 (SCI IF 1.23)

In this paper, we present the filter based on vincent theorem in continuous collision detection.

An Algebraic Culling Algorithm for Continuous Collision Detection using Sturm Theorem
Zhang Xinyu, Liu Yao
IEEE International Conference on Mechatronics and Automation, 2~5 August, 2015, Beijing, China.

In this paper, we present the filter based on sturm theorem in continuous collision detection.

A Simple Filtering Algorithm for Continuous Collision Detection using Taylor Models
Zhang Xinyu, Liu Yao
International Conference on Computer-Aided Design and Computer Graphics (CAD/Graphics), 26~28 August 2015, Xi'an, China.

In this paper, we present the filter based on taylor theorem in continuous collision detection.