Welcome to Zijian's Academic CV !

Example Talk

Sat, 01 Jun 2030 13:00:00 +0000

Click on the Slides button above to view the built-in slides feature.

Slides can be added in a few ways:

Create slides using Hugo Blox Builder’s Slides feature and link using slides parameter in the front matter of the talk file
Upload an existing slide deck to static/ and link using url_slides parameter in the front matter of the talk file
Embed your slides (e.g. Google Slides) or presentation video on this page using shortcodes.

Further event details, including page elements such as image galleries, can be added to the body of this page.

Priority-Based Switching Model Predictive Control for Sequential Manipulation of Space Robot

Mon, 14 Apr 2025 00:15:39 +0000

Motion Control for Wheel-legged Humanoid Robots

Thu, 10 Oct 2024 00:00:00 +0000

I am developing a wheeled-leg humanoid robot, exploring how to use the robot to assist elderly people, including pushing wheelchairs. I am mainly responsible for the robot’s compliant motion control.

Motion control with Unitree Go1 Max

Tue, 01 Oct 2024 00:00:00 +0000

I have already achieved high-level control using the free SDK. Now, I have taken some low-level tests and make preliminary experiments with compliant control methods.

A Whole-Body Compliance Control Strategy of Truss Crawling for Multi-Arm Space Robots

Wed, 01 May 2024 00:15:39 +0000

Compliance Control for Multi-Arm Space Robot crawling

Wed, 01 May 2024 00:00:00 +0000

I addressed the issue of closed-chain force conflicts during the space truss crawling of a multi-arm robot. I proposed a whole-body compliant control strategy, analyzing the force mapping between interactive forces and the base, establishing a compliance model between the floating base and the end-effector Cartesian space.

Blog with Jupyter Notebooks!

Sat, 04 Nov 2023 00:00:00 +0000

from IPython.core.display import Image
Image('https://www.python.org/static/community_logos/python-logo-master-v3-TM-flattened.png')

print("Welcome to Academic!")

Welcome to Academic!

Organize your notebooks

Place the notebooks that you would like to publish in a notebooks folder at the root of your website.

Import the notebooks into your site

pipx install academic
academic import 'notebooks/**.ipynb' content/post/ --verbose

The notebooks will be published to the folder you specify above. In this case, they will be published to your content/post/ folder.

Compliance Control for Quadruped wheel-legged robot

Thu, 01 Jun 2023 00:00:00 +0000

This robot was designed by my team and me. We have already created a URDF model of the robot and are testing it in Isaac Sim simulation.

A Flippable Quadrupedal Wheel-Legged Robot

Mon, 01 May 2023 00:15:39 +0000

Dual-Arm Space Robot Testbed

Mon, 01 May 2023 00:00:00 +0000

I analyzed the dynamics of a floating base for a dual-arm mobile robot based on air bearings, calculating the torque distribution of thrusters and employing MPC optimization to equate energy consumption to PWM output for the solenoid valves, calculating the optimal output force/torque.

Flippable wheel-legged quadruped robot

Mon, 01 May 2023 00:00:00 +0000

The utility model discloses a reversible quadruped wheel-legged robot, related to the technical field of wheel-legged robot equipment, including a robot base, said robot base includes a bottom plate and a first side plate; the beneficial effect of this utility model is that there are a robot base and wheel-leg assembly, when in use, through the operation of the first drive motor to drive the first left leg joints to turn, through the operation of the fourth drive motor to drive the fourth The left leg joint is rotated by the first drive motor, and the fourth drive motor is rotated by the fourth drive motor, which drives the wheel-leg assembly to be adjusted four times, and it can be compatible with the foot state and also retains the complex adaptability of the traditional quadrupedal robot, which is also suitable for field exploration, and through the operation of the four wheel-leg assemblies, it realizes an overall reversible quadrupedal wheel-legged robot, which is more flexible, and it can be adapted to a variety of application scenarios such as topographical surveys, industrial inspections, material handling and planetary exploration, which meets the needs of the use. It can be used in various application scenarios such as terrain survey, industrial inspection, material handling, planetary exploration, etc., to meet the needs of use.

Gaussian-Mixture-Model-Based Model Predictive Control for Space Robot in Task-space

Mon, 27 Mar 2023 00:15:39 +0000

Compliance control with Franka Emika Panda Robot

Sun, 01 Jan 2023 00:00:00 +0000

I used the Franka Emika Panda robot to test screw screwing, with impedance control in the null space and end-effector Cartesian space to complete the task.

Modular Bionic Snake Robot

Sat, 01 May 2021 00:00:00 +0000

I used stm32f103 chips, custom PCB driver boards, high torque servos and enclosed water tanks to design a multi-joint ROV modular bionic snake underwater robot, which has higher flexibility through vector thrusters.

Amphibious Bionic Robot

Mon, 01 Mar 2021 00:00:00 +0000

The robot adopts a bionic propulsion mode to present the shape of a fish as a whole, and on this basis, a six-legged crawling mechanism is added to make it have two movement modes: swimming and crawling, so as to integrate the cruise detection ability of the traditional UUV and the fixed-point operation capability of the ROV.

Welcome to Hugo Blox Builder, the website builder for Hugo

Sun, 13 Dec 2020 00:00:00 +0000

import libr
print('hello')

Overview

The Wowchemy website builder for Hugo, along with its starter templates, is designed for professional creators, educators, and teams/organizations - although it can be used to create any kind of site
The template can be modified and customised to suit your needs. It’s a good platform for anyone looking to take control of their data and online identity whilst having the convenience to start off with a no-code solution (write in Markdown and customize with YAML parameters) and having flexibility to later add even deeper personalization with HTML and CSS
You can work with all your favourite tools and apps with hundreds of plugins and integrations to speed up your workflows, interact with your readers, and much more

Get Started

👉 Create a new site
📚 Personalize your site
💬 Chat with the Wowchemy community or Hugo community
🐦 Twitter: @wowchemy @GeorgeCushen #MadeWithWowchemy
💡 Request a feature or report a bug for Wowchemy
⬆️ Updating Wowchemy? View the Update Tutorial and Release Notes

Crowd-funded open-source software

To help us develop this template and software sustainably under the MIT license, we ask all individuals and businesses that use it to help support its ongoing maintenance and development via sponsorship.

As a token of appreciation for sponsoring, you can unlock these awesome rewards and extra features 🦄✨

Ecosystem

Hugo Academic CLI: Automatically import publications from BibTeX

Inspiration

Check out the latest demo of what you’ll get in less than 10 minutes, or view the showcase of personal, project, and business sites.

Features

Page builder - Create anything with widgets and elements
Edit any type of content - Blog posts, publications, talks, slides, projects, and more!
Create content in Markdown, Jupyter, or RStudio
Plugin System - Fully customizable color and font themes
Display Code and Math - Code highlighting and LaTeX math supported
Integrations - Google Analytics, Disqus commenting, Maps, Contact Forms, and more!
Beautiful Site - Simple and refreshing one page design
Industry-Leading SEO - Help get your website found on search engines and social media
Media Galleries - Display your images and videos with captions in a customizable gallery
Mobile Friendly - Look amazing on every screen with a mobile friendly version of your site
Multi-language - 34+ language packs including English, 中文, and Português
Multi-user - Each author gets their own profile page
Privacy Pack - Assists with GDPR
Stand Out - Bring your site to life with animation, parallax backgrounds, and scroll effects
One-Click Deployment - No servers. No databases. Only files.

Themes

Wowchemy and its templates come with automatic day (light) and night (dark) mode built-in. Alternatively, visitors can choose their preferred mode - click the moon icon in the top right of the Demo to see it in action! Day/night mode can also be disabled by the site admin in params.toml.

Choose a stunning theme and font for your site. Themes are fully customizable.

License

Released under the MIT license.

Wheeled Climbing Robot

Thu, 01 Oct 2020 00:00:00 +0000

The robot uses an acrylic plate underbody support structure, and uses a linear CCD camera to collect black squares to follow the track on slpoe; PWM is sent to the MSP430 platform controller through the ADC channel, and the encoder is used to measure the motor speed at all times.

Contactless Intelligent Elevator Interaction System

Sat, 01 Aug 2020 00:00:00 +0000

PCB design of Control system: including STM32 main control board circuit design, power supply voltage regulation, voice recognition, indicator lights and other external function modules.

Embedded System Development & Voice Interaction: The iFLYTEK LD3320 voice module is used to communicate through the UART serial port, and the content recognized by the voice module is converted into the specific commands of the execution module according to the technical manual.

Two-wheeled balancing robot

Sun, 01 Mar 2020 00:00:00 +0000

The internal and external PID dual control loops of the motor, of which the internal control loop: the PID position loop calculated by the AB phase of the Hall encoder; External control loop: the deviation steering loop of the Gyro angle.

Writing technical content in Markdown

Fri, 12 Jul 2019 00:00:00 +0000

Hugo Blox Builder is designed to give technical content creators a seamless experience. You can focus on the content and Wowchemy handles the rest.

Highlight your code snippets, take notes on math classes, and draw diagrams from textual representation.

On this page, you’ll find some examples of the types of technical content that can be rendered with Wowchemy.

Examples

Code

Wowchemy supports a Markdown extension for highlighting code syntax. You can customize the styles under the syntax_highlighter option in your config/_default/params.yaml file.

```python
import pandas as pd
data = pd.read_csv("data.csv")
data.head()
```

renders as

import pandas as pd
data = pd.read_csv("data.csv")
data.head()

Mindmaps

Wowchemy supports a Markdown extension for mindmaps.

Simply insert a Markdown markmap code block and optionally set the height of the mindmap as shown in the example below.

A simple mindmap defined as a Markdown list:


```markmap {height="200px"}
- Hugo Modules
- wowchemy
- blox-plugins-netlify
- blox-plugins-netlify-cms
- blox-plugins-reveal
```

renders as

- Hugo Modules
- wowchemy
- blox-plugins-netlify
- blox-plugins-netlify-cms
- blox-plugins-reveal

A more advanced mindmap with formatting, code blocks, and math:


```markmap
- Mindmaps
- Links
- [Wowchemy Docs](https://docs.hugoblox.com/)
- [Discord Community](https://discord.gg/z8wNYzb)
- [GitHub](https://github.com/HugoBlox/hugo-blox-builder)
- Features
- Markdown formatting
- **inline** ~~text~~ *styles*
- multiline
text
- `inline code`
-
```js
console.log('hello');
console.log('code block');
```
- Math: $x = {-b \pm \sqrt{b^2-4ac} \over 2a}$
```

renders as

- Mindmaps
- Links
- [Wowchemy Docs](https://docs.hugoblox.com/)
- [Discord Community](https://discord.gg/z8wNYzb)
- [GitHub](https://github.com/HugoBlox/hugo-blox-builder)
- Features
- Markdown formatting
- **inline** ~~text~~ *styles*
- multiline
text
- `inline code`
-
```js
console.log('hello');
console.log('code block');
```
- Math: $x = {-b \pm \sqrt{b^2-4ac} \over 2a}$

Charts

Wowchemy supports the popular Plotly format for interactive charts.

Save your Plotly JSON in your page folder, for example line-chart.json, and then add the {{< chart data="line-chart" >}} shortcode where you would like the chart to appear.

Demo:

You might also find the Plotly JSON Editor useful.

Math

Wowchemy supports a Markdown extension for $\LaTeX$ math. You can enable this feature by toggling the math option in your config/_default/params.yaml file.

To render inline or block math, wrap your LaTeX math with {{< math >}}$...${{< /math >}} or {{< math >}}$$...$${{< /math >}}, respectively. (We wrap the LaTeX math in the Wowchemy math shortcode to prevent Hugo rendering our math as Markdown. The math shortcode is new in v5.5-dev.)

Example math block:

{{< math >}}
$$
\gamma_{n} = \frac{ \left | \left (\mathbf x_{n} - \mathbf x_{n-1} \right )^T \left [\nabla F (\mathbf x_{n}) - \nabla F (\mathbf x_{n-1}) \right ] \right |}{\left \|\nabla F(\mathbf{x}_{n}) - \nabla F(\mathbf{x}_{n-1}) \right \|^2}
$$
{{< /math >}}

renders as

$$\gamma_{n} = \frac{ \left | \left (\mathbf x_{n} - \mathbf x_{n-1} \right )^T \left [\nabla F (\mathbf x_{n}) - \nabla F (\mathbf x_{n-1}) \right ] \right |}{\left \|\nabla F(\mathbf{x}_{n}) - \nabla F(\mathbf{x}_{n-1}) \right \|^2}$$

Example inline math {{< math >}}$\nabla F(\mathbf{x}_{n})${{< /math >}} renders as $\nabla F(\mathbf{x}_{n})$.

Example multi-line math using the math linebreak (\\):

{{< math >}}
$$f(k;p_{0}^{*}) = \begin{cases}p_{0}^{*} & \text{if }k=1, \\
1-p_{0}^{*} & \text{if }k=0.\end{cases}$$
{{< /math >}}

renders as

$$ f(k;p_{0}^{*}) = \begin{cases}p_{0}^{*} & \text{if }k=1, \\ 1-p_{0}^{*} & \text{if }k=0.\end{cases} $$

Diagrams

Wowchemy supports a Markdown extension for diagrams. You can enable this feature by toggling the diagram option in your config/_default/params.toml file or by adding diagram: true to your page front matter.

An example flowchart:

```mermaid
graph TD
A[Hard] -->|Text| B(Round)
B --> C{Decision}
C -->|One| D[Result 1]
C -->|Two| E[Result 2]
```

renders as

graph TD A[Hard] -->|Text| B(Round) B --> C{Decision} C -->|One| D[Result 1] C -->|Two| E[Result 2]

An example sequence diagram:

```mermaid
sequenceDiagram
Alice->>John: Hello John, how are you?
loop Healthcheck
John->>John: Fight against hypochondria
end
Note right of John: Rational thoughts!
John-->>Alice: Great!
John->>Bob: How about you?
Bob-->>John: Jolly good!
```

renders as

sequenceDiagram Alice->>John: Hello John, how are you? loop Healthcheck John->>John: Fight against hypochondria end Note right of John: Rational thoughts! John-->>Alice: Great! John->>Bob: How about you? Bob-->>John: Jolly good!

An example Gantt diagram:

```mermaid
gantt
section Section
Completed :done, des1, 2014-01-06,2014-01-08
Active :active, des2, 2014-01-07, 3d
Parallel 1 : des3, after des1, 1d
Parallel 2 : des4, after des1, 1d
Parallel 3 : des5, after des3, 1d
Parallel 4 : des6, after des4, 1d
```

renders as

gantt section Section Completed :done, des1, 2014-01-06,2014-01-08 Active :active, des2, 2014-01-07, 3d Parallel 1 : des3, after des1, 1d Parallel 2 : des4, after des1, 1d Parallel 3 : des5, after des3, 1d Parallel 4 : des6, after des4, 1d

An example class diagram:

```mermaid
classDiagram
Class01 <|-- AveryLongClass : Cool
Class03 *-- Class04
Class05 o-- Class06
Class07 .. Class08
Class09 --> C2 : Where am i?
Class09 --* C3
Class09 --|> Class07
Class07 : equals()
Class07 : Object[] elementData
Class01 : size()
Class01 : int chimp
Class01 : int gorilla
Class08 <--> C2: Cool label
```

renders as

classDiagram Class01 <|-- AveryLongClass : Cool Class03 *-- Class04 Class05 o-- Class06 Class07 .. Class08 Class09 --> C2 : Where am i? Class09 --* C3 Class09 --|> Class07 Class07 : equals() Class07 : Object[] elementData Class01 : size() Class01 : int chimp Class01 : int gorilla Class08 <--> C2: Cool label

An example state diagram:

```mermaid
stateDiagram
[*] --> Still
Still --> [*]
Still --> Moving
Moving --> Still
Moving --> Crash
Crash --> [*]
```

renders as

stateDiagram [*] --> Still Still --> [*] Still --> Moving Moving --> Still Moving --> Crash Crash --> [*]

Todo lists

You can even write your todo lists in Markdown too:

- [x] Write math example
 - [x] Write diagram example
- [ ] Do something else

renders as

Write math example
- Write diagram example
Do something else

Tables

Save your spreadsheet as a CSV file in your page’s folder and then render it by adding the Table shortcode to your page:

{{< table path="results.csv" header="true" caption="Table 1: My results" >}}

renders as

Table 1: My results
customer_id	score
1	0
2	0.5
3	1

Callouts

Academic supports a shortcode for callouts, also referred to as asides, hints, or alerts. By wrapping a paragraph in {{% callout note %}} ... {{% /callout %}}, it will render as an aside.

{{% callout note %}}
A Markdown aside is useful for displaying notices, hints, or definitions to your readers.
{{% /callout %}}

renders as

A Markdown aside is useful for displaying notices, hints, or definitions to your readers.

Spoilers

Add a spoiler to a page to reveal text, such as an answer to a question, after a button is clicked.

{{< spoiler text="Click to view the spoiler" >}}
You found me!
{{< /spoiler >}}

renders as

Click to view the spoiler

You found me!

Icons

Academic enables you to use a wide range of icons from Font Awesome and Academicons in addition to emojis.

Here are some examples using the icon shortcode to render icons:

{{< icon name="terminal" pack="fas" >}} Terminal
{{< icon name="python" pack="fab" >}} Python
{{< icon name="r-project" pack="fab" >}} R

renders as

Terminal
Python
R

Slides

Tue, 05 Feb 2019 00:00:00 +0000

Create slides in Markdown with Hugo Blox Builder

Hugo Blox Builder | Documentation

Features

Efficiently write slides in Markdown
3-in-1: Create, Present, and Publish your slides
Supports speaker notes
Mobile friendly slides

Controls

Next: Right Arrow or Space
Previous: Left Arrow
Start: Home
Finish: End
Overview: Esc
Speaker notes: S
Fullscreen: F
Zoom: Alt + Click
PDF Export

Code Highlighting

Inline code: variable

Code block:

porridge = "blueberry"
if porridge == "blueberry":
 print("Eating...")

Math

In-line math: $x + y = z$

Block math:

$$ f\left( x \right) = ;\frac{{2\left( {x + 4} \right)\left( {x - 4} \right)}}{{\left( {x + 4} \right)\left( {x + 1} \right)}} $$

Fragments

Make content appear incrementally

{{% fragment %}} One {{% /fragment %}}
{{% fragment %}} **Two** {{% /fragment %}}
{{% fragment %}} Three {{% /fragment %}}

Press Space to play!

One Two Three

A fragment can accept two optional parameters:

class: use a custom style (requires definition in custom CSS)
weight: sets the order in which a fragment appears

Speaker Notes

Add speaker notes to your presentation

{{% speaker_note %}}

- Only the speaker can read these notes
- Press `S` key to view
 {{% /speaker_note %}}

Press the S key to view the speaker notes!

Themes

black: Black background, white text, blue links (default)
white: White background, black text, blue links
league: Gray background, white text, blue links
beige: Beige background, dark text, brown links
sky: Blue background, thin dark text, blue links

night: Black background, thick white text, orange links
serif: Cappuccino background, gray text, brown links
simple: White background, black text, blue links
solarized: Cream-colored background, dark green text, blue links

Custom Slide

Customize the slide style and background

{{< slide background-image="/media/boards.jpg" >}}
{{< slide background-color="#0000FF" >}}
{{< slide class="my-style" >}}

Custom CSS Example

Let’s make headers navy colored.

Create assets/css/reveal_custom.css with:

.reveal section h1,
.reveal section h2,
.reveal section h3 {
 color: navy;
}

Questions?

Ask

Documentation

Welcome to Zijian's Academic CV !

Example Talk

Priority-Based Switching Model Predictive Control for Sequential Manipulation of Space Robot

Motion Control for Wheel-legged Humanoid Robots

Motion control with Unitree Go1 Max

A Whole-Body Compliance Control Strategy of Truss Crawling for Multi-Arm Space Robots

Compliance Control for Multi-Arm Space Robot crawling

Blog with Jupyter Notebooks!

Organize your notebooks

Import the notebooks into your site

Compliance Control for Quadruped wheel-legged robot

A Flippable Quadrupedal Wheel-Legged Robot

Dual-Arm Space Robot Testbed

Flippable wheel-legged quadruped robot

Gaussian-Mixture-Model-Based Model Predictive Control for Space Robot in Task-space

Compliance control with Franka Emika Panda Robot

Modular Bionic Snake Robot

Amphibious Bionic Robot

Welcome to Hugo Blox Builder, the website builder for Hugo

Overview

Get Started

Crowd-funded open-source software

❤️ Click here to become a sponsor and help support Wowchemy’s future ❤️

Ecosystem

Inspiration

Features

Themes

License

Wheeled Climbing Robot

Contactless Intelligent Elevator Interaction System

Two-wheeled balancing robot

Writing technical content in Markdown

Examples

Code

Mindmaps

Charts

Math

Diagrams

Todo lists

Tables

Callouts

Spoilers

Icons

Did you find this page helpful? Consider sharing it 🙌

Slides

Create slides in Markdown with Hugo Blox Builder

Features

Controls

Code Highlighting

Math

Fragments

Speaker Notes

Themes

Custom Slide

Custom CSS Example

Questions?