Fault isolation
Reproduce the fault, then inspect logs, bus timing, waveforms, and RTOS traces before changing code.
Engineering Profile
From low-level drivers to complete robot control.
HKUST Computer Engineering undergraduate with a Minor in Robotics and an Extended Major in Artificial Intelligence. Experience covers MCU drivers and communication, multi-actuator control, RTOS diagnostics, shared firmware platforms, and complete robot integration.
System structure
Keep drivers, communication, control, and application state machines separated by explicit interfaces.
Reliability
Handle timeouts, disconnections, invalid data, recovery paths, and safety states as part of the design.
Education
HKUST · 2023—2027Hong Kong University of Science and Technology
BEng in Computer Engineering · Minor in Robotics · Extended Major in Artificial Intelligence · Expected 2027
What I’m working on now
2026.06 — PRESENTEmbedded Systems Intern
Shenzhen WildNovate Technology Co., Ltd.
- Develop motor and actuator communication drivers on GD32F470/GD32H737 + FreeRTOS, using UART/RS485, CAN, and PWM/PPM for propulsion, steering, and lifting mechanisms.
- Design timeout detection, error recovery, status reporting, and safety protection for communication faults, actuator disconnections, power-supply fluctuations, and adverse operating conditions.
- Use oscilloscopes and logic analyzers to validate timing and stability; develop translation and rotation control from kinematic and dynamic models; participate in system integration and gain exposure to the complete product-development lifecycle and mass-production-related processes, including production-grade driver-module stability validation.
RoboMaster projects
Whole robots · shared platform · controlRoboMaster Engineer Robot
2024.10 — 2025.08Sole embedded engineer · 6-axis manipulator on a swerve chassis
Integrated the arm/gimbal, swerve chassis, lift, vacuum end effectors, and a custom 6-DoF joint-mapped teleoperation controller across three STM32G4 + FreeRTOS nodes. Implemented multi-actuator scheduling, FDCAN inter-board communication, coordinate tools, and the whole-robot state machine.
Result: approximately 90% ore storage/retrieval success, no rollover during tasks, spin-to-mine capability, a 5.8s Level-4 exchange record, and selection for the RoboMaster 2025 All-Star Game.
Open technical notes
System scope
A three-controller STM32G4 + FreeRTOS system spanning the 6-axis arm/gimbal, swerve chassis, lift, vacuum end effectors, and a custom 6-DoF joint-mapped teleoperation controller.
Arm and end effectors
Implemented arm tasks, pose and coordinate tools, vacuum-state detection, pump control, and geometry validation against SolidWorks-exported URDF and MATLAB models.
Chassis and integration
Built four-module swerve control, optical-gate and steering-zero initialization, synchronized lift control, FDCAN inter-board communication, and the whole-robot command state machine.
Teleoperation
Added gravity compensation, damping, and optional force feedback so the operator's six-joint input could map directly to arm motion while preserving controllability during continuous ore-handling tasks.
RM2025-Core
2024.08 — 2025.08Embedded Department Leader · shared driver and middleware platform
Led approximately 10 embedded members and maintained unified interfaces for CAN/FDCAN, motor drivers, IMU, referee system, inter-board/ROS communication, control modules, and math utilities. Owned feature work, urgent fixes, PR review, and RTOS diagnostics with SystemView/Tracealyzer.
Result: the platform supported reuse across all 7 team robots; I also designed and delivered approximately 10 embedded onboarding sessions.
Open technical notes
Platform scope
Unified CAN/FDCAN management, DJI/DM/LK motor drivers, IMU/AHRS, referee-system access, VTM/ROS and inter-board communication, and reusable control/math utilities.
My ownership
Owned feature development, module upgrades, urgent bug fixes, interface stability, and pull-request review across infantry, hero, engineer, sentry, dart, and other robot projects.
Debugging and observability
Used SystemView and Tracealyzer for RTOS task timing and runtime diagnosis, and kept shared interfaces stable while robot teams integrated features under competition deadlines.
Team development
Delegated power-control, driver, protocol, and DSP/matrix subprojects, and structured onboarding around interfaces, motors, PID, and FreeRTOS.
Swerve Chassis & Power Control
2024.05 — 2024.08Embedded control and algorithms · open source
Addressed steering zero-offset drift and abrupt target-speed changes with ChassisCalculator and speed limiting. Built 1000Hz RLS motor power identification, power/energy loops, supercapacitor management, and invalid-sample isolation for disconnected referee/capacitor data.
Result: reused across mecanum, omni, swerve, and wheel-legged chassis; all team robots completed the season with zero power-limit health deductions.
Open technical notes
Swerve control problem
Addressed steering zero-offset drift and abrupt target-speed changes with ChassisCalculator kinematics, zero calibration, rotation limits, speed limiting, and a lazy steering strategy.
Online power model
Ran recursive least squares at 1000Hz to identify motor power parameters continuously, then allocated available power from speed error and predicted consumption before solving the allowable torque.
Energy and fault handling
Adjusted the power ceiling through referee-buffer and supercapacitor energy feedback, while isolating invalid samples when referee or capacitor data disconnected.
Reuse and result
The framework was reused on mecanum, omni, swerve, and wheel-legged platforms. Every team robot completed the season without power-limit health deductions, and the project was released publicly.
More RoboMaster systems
Hero robot · dart system
2023.12 — 2024.08
Hero Robot
Independent whole-robot embedded development
Whole-robot firmware for mecanum chassis, gimbal, shooter, loading, jam/heat handling, vision, and inter-board communication.
Project details
Gimbal and shooter
Implemented 2-axis gimbal control, friction-wheel and loading mechanisms, heat limits, jam recovery, launch state machines, vision communication, and runtime monitoring.
Chassis and integration
Built mecanum motion control with follow, spin, and free modes; integrated supercapacitor/power control and gimbal–chassis command communication on STM32F407/G4 + FreeRTOS.
2024.02 — 2024.08
Dart System
Embedded development · two robot generations
Two generations of launch control with target selection, friction wheels, loading/reset, launch-window logic, and referee integration.
Project details
Actuators and modes
Controlled 4 × M3508 friction-wheel motors, loading, reloading, and yaw axes on STM32F427; supported manual debugging, reset, and automatic launch modes.
Match logic
Used remaining-time, gate-state, target-health, and launch-command data from the referee system to choose outpost/base targets and determine launch timing; used limits and current sensing for mechanism state.
Contract projects
Algorithm deployment · product prototype
2025.10 — 2025.12
Biped RL Locomotion
Contract project · embedded systems and algorithms
Isaac Lab and MuJoCo training/validation pipeline, PPO tooling, and STM32G4 communication for 10 joint motors and IMU state.
Project details
Training and validation
Built an Isaac Lab direct task, MuJoCo sim-to-sim evaluation, custom RSL-RL / PPO Actor-Critic training, policy play/export tools, and perturbation/domain-randomization tests.
Embedded deployment
Used STM32G4 to collect IMU and 10-joint motor state, report observations and receive actions over ROS/UART, then control DM/RoboStride motors during hardware integration.
2026.04 — 2026.05
Squash Ball Serving Machine
Contract project · embedded product prototype
STM32H723 product prototype with speed control, yaw/pitch aiming, launch/retract state machines, remote trigger, limits, and three-week delivery.
Project details
Control system
Developed the STM32H723 controller with dual M3508 closed-loop friction wheels, yaw/pitch servos for landing-point adjustment, and launch/retract state machines.
Delivery
Added remote triggering, multiple speed levels, gimbal limits, and wheel-ready checks before launch; completed the path from control proposal to working prototype in a three-week delivery.
Course project
HKUST ELEC 3300 · EMBEDDED SYSTEMS4-Axis Exoskeleton Arm
2025.11 — 2025.12Course project · embedded control and algorithms
Completed proposal, simulation and prototype validation, component selection, forward development, integration, stability verification, and the final demo in just over one month. Integrated four J4340 joints and a wrist IMU with DH, Jacobian, and RNEA models for real-time torque control.
Result: delivered the complete course demo on schedule with gravity/inertia compensation and endpoint virtual-force mapping.
Open technical notes
Model and control
Built DH-chain, Jacobian, and RNEA inverse-dynamics models to update joint state, compensate gravity/inertia, and map endpoint virtual force through JᵀF into joint torque.
Embedded implementation
Integrated four J4340 joints and a wrist IMU on STM32H750 + FreeRTOS, estimated human motion tendency from pose and acceleration, and issued combined torque through MIT mode.
Validation
Used MuJoCo, MATLAB models, and friction-fitting scripts to validate the control chain before integration, then delivered the complete working course demo on schedule.
Most RoboMaster, contract, and course repositories are private; public code and media links are marked on the relevant projects.
Competition years & team work
2023 — 2025RoboMaster 2025 Season
Embedded Department Leader and Engineer Robot embedded lead. Planned tasks, reviewed code, maintained RM2025-Core, and integrated the complete Engineer Robot.
Outcome: Zhejiang Regional champion and Revival Tournament Second Prize.
RoboMaster 2025 All-Star Game
Responsible for pre-match inspection, on-site debugging, parameter adjustment, and stability of the Engineer Robot's manipulator, chassis, lift, vacuum system, and teleoperation controller.
Learning: make fast, observable, and reversible engineering decisions under field pressure.
RoboMaster 2024 Season
Developed the Hero Robot and later two generations of Dart launch control; also contributed to swerve-drive research and adaptive chassis power control.
Outcome: Guangdong Regional First Prize, Revival Tournament Second Prize, and zero team-wide power-limit health deductions.
Embedded Department Leadership
Led approximately 10 members, handled design and PR reviews, urgent fixes, shared interfaces, and subprojects in power control, motor drivers, serial protocols, and DSP/matrix tooling.
Outcome: established a shared embedded platform and a repeatable onboarding workflow across robot projects.
Honors
2024 — 2026- RoboMaster 2025 University Championship Revival Tournament — Second Prize
- RoboMaster 2025 University League Zhejiang Regional — Champion
- RoboMaster 2024 University Championship Revival Tournament — Second Prize
- RoboMaster 2024 University League Guangdong Regional — First Prize
- HKSAR Government Talent Development Scholarship (TDS), 2025/26
- HKSAR Government Talent Development Scholarship (TDS), 2024/25