王柏人 Po-Jen Wang

M.S. in Computer Engineering, University of California, Santa Cruz

Expected Graduation: December 2019

B.S. in Electrical Engineering, California State University, Northridge, 2011

Email: pwang37@ucsc.edu

Check out my robotic adventure!

About Me

Hi, my name is Po-Jen Wang and I'm currently pursuing a M.S. degree in Computer Engineering at UC Santa Cruz. I specialize in software development for LIDAR based autonomous mobile robot. Before coming to UCSC, I researched with Dr. C.T. Lin's at his Intelligent Ground Vehicle Lab at CSU Northridge where we built smart wheelchair and autonomous mobile robots that competed in the annual AUVSI IGVC competition. Besides academic research, I have worked at startups in SoCal and in Dalian, China where we developed autonomous golf course service robot and warehouse Automated Guided Vehicles (AGVs). At UCSC, my research focus is on utilizing AI techniques to achieve Lidar/vision based object recgonition, pose estimation and SLAM for robotics perception. My goal is to work in the self-driving car industry after graduation.

Technical Skills
LabVIEW, C/C++, Python, MATLAB
LIDAR, Computer Vision, GPS, Motion Planning, Robotic Arm, Arduinos, Sensors, Motors, Controllers, Encoder, Digital Compass, Radio system, Battery, Filter Design, Wiring, SolidWorks, Laser Cutting, Graphic Design

Courses Taken
Artificial Intelligence, Machine Learning, Algorithms, Mechatronics, Models of Robotic Manipulation, Linear Dynamical Systems and Computer Architecture

Research Projects

The "Slugnificent" Seven 5/2019 – 6/2019
University of California, Santa Cruz
Built an autonomous mobile robot to compete against an opponent robot. The robot must autonomouly travel to an initial firing zone by following tape, avoid obstacles with bumpers and use beacon to locate and shoot ping-pong balls at the opponent robot
- Developed a tape sensing module that determines tape orientation and offset relative to the robot, which helps with creating smoother robot motion
- In charge of system design and entire software development for the robot


Cat Mario AI 1/2019 – 3/2019
University of California, Santa Cruz
Developed a Cat Mario AI based on NeuroEvolution of Augmenting Topologies (NEAT) method that uses genetic approach to learn to play the game of Cat Mario. Cat Mario is a parody game of the Super Mario Bros known for its level of difficulty that causes extreme frustration
- Utilized computer vision (OpenCV) to extract and analyze game video feed to classify objects in game in real-time (cat agent, enemies and neutral platforms) and convert game frame into low dimensional training data
- Mapped the game at topological level by tracking the positions and movements of side-scrolling game window and various objects in game in real-time
- Developed a training environment with game event detection that triggers or stops a genome training run. It presents clear visualization of the recorded agent trajectories with training statistics over runs in a generation
- Poster, Project Demo

Autonomous Ping-Pong Robot Simulator 4/2018 – 6/2018
University of California, Santa Cruz
Developed a 3D simulator to simulate gameplay of an autonomous mobile Ping-Pong Robot. Design included a paddle mounted on a 6-axis robot arm on an omnidirectional mobile robot platform
- Built a full 3D environment with LabVIEW 3D graph to generate and transform models of robotic arm, omni robot platform, paddle and ping-pong table
- Developed models for ping-pong ball trajectory prediction in flight and after making contact with the table, net and moving paddle
- Determined forward and inverse kinematics for 6-axis robotics arm and mobile platform to create a strike that lands on the opponent's side of the table
- Project Demo

Brain-Computer Interface (BCI) Wheelchair Project 9/2011 – 4/2014
California State University, Northridge
Developed an intelligent wheelchair that analyzes the user’s facial gestures and brain signals from an electroencephalogram (EEG) headset to generate motion commands. It utilizes GPS, LIDAR, and computer vision to autonomously navigate around the campus
- Developed computer vision software that identifies areas of pavement, grass, dirt, and shadow under outdoor light conditions
- Coded the intelligent self-driving system that controls the wheelchair to travel to a set of GPS waypoints on campus


Intelligent Ground Vehicle Project – Red RAVEN 1/2010 – 1/2013
California State University, Northridge
Developed intelligent self-driving systems on multiple autonomous mobile robots and competed with ~50 teams each year at AUVSI’s international Intelligent Ground Vehicle Competition (IGVC)
- 2010 5th place, 2011 and 2012 repeat 1st place Grand Award at IGVC
- Provided demo at NASA Jet Propulsion Laboratory (JPL) and at AUVSI Unmanned Systems North America 2012 exhibition
- Recipient of Distinguished Engineering Project Achievement Award 2013 given by the San Fernando Valley Engineers’ Council
- Developed perception software that utilizes LIDAR and computer vision to locate and classify construction barrels, lanes, flags, and creates a real-time 3D rendered obstacle map. Rewrote the cognitive control software for obstacle avoidance, predictive motion planning

CSUN's Red RAVEN Robot on the Science Channel

Design Report: 2011, 2012


Work Experience

Principal Engineer 1/2015 – 6/2017
Megaro Robotics Technology Co. Limited, 大连美加洛兄弟自动化科技有限公司 ( 美加洛机器人 ) – Dalian, China
Developed warehouse Automated Guided Vehicles (AGVs) and built customized robots to the customers’ specifications
- Modified client's Linde R20S reach truck forklift into a LIDAR-based AGV capable of locating and transporting warehouse pallets between shelves in a confined space
- Built, programmed, and deployed three assistant robots (小云机器人) at Dalian Train Station that interact and help travelers navigate the train station

Robotic Engineer 9/2012 – 2/2014
Eagle Construction Solutions, Inc. – Menifee, CA USA
Designed, built, and test prototype of a fully autonomous mobile service robot from scratch that surveys different locations within golf courses. The robot replaces human labor and operates continuously for several days without intervention

Conference Presentations and Proceedings
C.T. Lin, C. Euler, P. Wang, A. Mekhtarian, J. Horvath; “Improved and Extended Mobility and Machine Learning for an Intelligent Wheelchair,” 27th Annual International Technology and Persons with Disabilities Conference, San Diego, California, Feb. 27 - Mar. 2, 2012. (Conference Presentation and Proceeding)

C.T. Lin, A. Mekhtarian C. Euler, P. Wang, G. Leonard, A.Gil, “Indoor and Outdoor Mobility for an Intelligent Autonomous Wheelchair,” 13th international conference on Computers Helping People with Special Needs (ICCHP), Linz, Austria, July 9-13, 2012 (Conference Proceeding)

A. Anikstein, P. Wang, A. Hartman, H. Markarian,”Intelligent Ground Vehicle: Red Raven,” Beyond the Booth Sessions, AUVSI Unmanned System North America 2012, Las Vegas, Nevada, Aug. 6-9, 2012. (Conference Presentation)

C.T. Lin, A.Gil, G. Leonard, P. Wang, A. Mekhtarian, G. Haggary, “Motion Control for an Intelligent Autonomous Wheelchair,” Featured Session: CSUN Computer Science and Engineering Project, 28th Annual International Technology and Persons with Disabilities Conference, San Diego, California, Feb. 27, 2013. (Conference Presentation)

Extracurricular Activity

I actively participate in the events held by the South Bay Taiwanese Hiking Club. Popular events include hiking, gathering dinner, and festival celebration.