A PhD student
A life-long learner.

Hi, I am likecanyon，you can call me Simon. I am a PhD student focusing on robotics at State Key Labtory of Robotics,SIA,CAS and plan to go to Fraunhofer through a joint PhD promotion prgram in Sep,2024

This is my personal blog, through making Github Pages and Jekyll.My GitHub 👉 Github·likecanyon.

I am a sports enthusiast, I like basketball, swimming, flying disk and soccer. I am also instereted in Chinese calligraphy.

My CV is following :

EDUCATION BACKGROUND

Combined Master and Doctor Program of University of Chinese Academy of Sciences in Pattern Recognition and Intelligent Systems
September 1,2021 - Present
Conducting R&D work in State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences since March, 2022.
Planing to conduct R&D work in Fraunhofer IFF in September, 2024 via a Joint PhD promotion program between University of Chinese Academy of Sciences and Fraunhofer.

Learning Courses at Yanqi Lake Campus of University of Chinese Academy of Sciences
September,2021-January2022
University of Chinese Academy of Sciences
Yanqihu East Road 1, Huairou District, Beijing, China

Bachelor of Engineering in Mechanical Engineering
09/2017- 07/2021
Zhengzhou University, Zhengzhou, China
GPA: 3.66/4.0 Ranking:1/99

RESEARCH INTERESTS

Ultrasound Robot, Robot-assisted assembly and disassembly, Incoperating AI technology in robot system, Robot-assisted experiments

RESEARCH EXPERIENCES

Robot-assisted pipetting operations
Brief description: Pipetting is a common operation in biological laboratories, aiming to reduce human fatigue, we have developed a robot-assisted pipetting system, which is equipped with a pipetting gun mounted on a robotic arm flange. With this system, we have successfully performed common liquid-handling operations in biological laboratories.
View on Bilibili

Robot-assisted Ultrasound Examination
Brief description: The imbalance of medical resources has led to difficulties in fulfilling the demand for ultrasound examinations in remote areas. In this context, we have developed a robot-assisted remote ultrasound inspection system, which is equipped with a force-limited ultrasound probe gripper installed on the UR5e robotic arm. The Omega.6 haptic device is used to control the end pose of the remote robotic arm.
View on Bilibili

Tool Center Point Calibration via Pose-Sequence Particle Swarm Optimization
Brief description: Robots’ manipulation accuracy is heavily determined by the calibration accuracy of the tool center point (TCP). We propose posture-sequence particle swarm optimization (PS2O) for TCP calibration. First, the mechanism of the condition number and the minimum eigenvalue of the regression matrix on the calibration accuracy is analyzed. Second, a multi-objective optimization problem is constructed based on the condition number, the minimum eigenvalue, and the sum of adjacent posture distances. Finally, an optimized posture sequence is obtained by applying the PSO algorithm to the constructed multi-objective optimization problem. The effectiveness of PS2O has been verified through experiments.

TECHNICAL SKILLS

• Software & Programming: MATLAB, C++, Python, ROS, Ubuntu, Solid works, Origin, Visio, Git, Markdown
• Previously used robots: UR5e, UR16e, KUKA IIWA7, Sigma.7, Omega.6

PUBLICATIONS

Articles:
[1] Gao Z, Li Y, Luo Y, et al. Tool Center Point Calibration via Pose-Sequence Particle Swarm Optimization[J]. IEEE Sensors Journal,2023. (Accept, Subject to Mandatory Corrections).
[2] Gao Z, Li Y, Luo Y, et al. The Accuracy Analysis of Tool Center Point Calibration via Condition Number and Minimum Eigenvalue[C]//2023 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2023: 340-344.

Patents:
[1] Yiwen Zhao, Xingang Zhao, Ziqi Gao et al. A robotic pipetting device and a robotic pipetting control method, CN114917975B. 2023. China. (Patent granted)
[2] Yiwen Zhao, Ziqi Gao et al. A design method for the proportional mapping factor of a teleoperated robot. CN115648161A, 2022, China. (Patent application accepted)
[3] Yiwen Zhao, Ziqi Gao et al. An end effector of ultrasound examination robot. CN202211452172.3, 2022, China. (Patent application accepted)
[4] Yiwen Zhao, Jincheng Sun, Rensong Wei, Yang Luo, Yunxiang Jiang, Yuanlin Zhang, Ziqi Gao et al. A robotic autonomous operation control method for unmanned laboratory centrifuges. CN202210811113.4, 2022, China. (Patent application accepted)

CONFERENCE PRESENTATION

Oral Presentation:
Ziqi Gao et al. The Accuracy Analysis of Tool Center Point Calibration via Condition Number and Minimum Eigenvalue. 2023 IEEE International Conference on Real-time Computing and Robotics, 17-21 July 2023, Datong, China.

SELECTED HONORS AND AWARDS

• Outstanding Graduate of Zhengzhou University, 2021
• Excellent Student Cadre at Zhengzhou University, 2018
• Merit Student at University of Chinese Academy of Sciences, 2023
• Merit Student at Zhengzhou University, 2018, 2019, 2020
• First-Class Academic Scholarship at Zhengzhou University, 2018, 2019, 2021
• Second-Class Academic Scholarship at University of Chinese Academy of Sciences, 2022

LANGUAGES

Chinese: Fluent (Native speaker)
English: Proficient (Able to read English literature, write English papers, deliver academic presentations in English, and engage in academic exchanges in English)

MAJOR COURSES

Robotics, Modern Control Theory, Robot Mechanism, Patent Application, Mechanical System Dynamics, Calculus, Linear Algebra, Probability Theory and Mathematical Statistics.