TIAN Bo

I am currently a master by research student under the supervision of Prof. CHEW chee meng working in the Control and mechatronics lab, National University of Singapore.

I received the Bachelor degree in Mechanical Engineering from Tsinghua University, China, in Jul, 2007.

Research Interests

Now my research work is focus on improving the performance of the humanoid soccer robots paticipating the RoboCup Humanoid League. Our team is a one of the leading team in this league. This year we got the forth place in kid-size humanoid league.

There are many research issues investigated in the Humanoid League. Dynamic walking, kicking the ball while maintaining balance, visual perception of the ball, other players, and the field, self-localization, and team play, etc. For such an exciting soccer game, one must considering all the aspects affecting the performance of the robots.

Now I guide some undergraduate students try out different walking algorithm and different motion planning method. My dependent work is focused on the self-localization and the cooperation of the agents. Thanks Dr. Lin Hai for the supervision in multi-agent systems.

Walking Motion
Our Robot's walking gait evolve from intuitive sine wave to ZMP model. From open loop walking to close loop control. And some of the students are trying limited cycle walking expecting to get some better results. The walking speed of our robots increase from 0.05m/s two years ago to 0.3m/s now.Run as fast as the robot can!

Machine Vision
The real time vision for a dynamic game like RoboCup is quite challenging. We are always using a two camera system, one is wide angle and the other one is a normal lens camera. The alternate of the cameras and the image processing are both important for the whole performance. We need to abstract the useful imformation from the images as soon as possible.

Localization
Self-Localization is get more and more important in the humanoid league. We apply the odometry + particle filter to do the localization. This is also my main focus now.

Others
We have a lot of tasks related to robotics. The communication with the servo, the design of the robot, strategy, wifi programming, micro processor programming... Welcome all the friends from EE, ME and SOC to join us!

I am also working as a research assistant under NUSBIP3 project. The team members are really great and I learned a lot of things from them.

Bio

I am really crazy about exploring the unknown world, finding out the answers for some strange philosophy questions. I think life should be full of discoveries and surprises.

I made up my mind to make a real Optimus Prime before I entered high school. I thought when writing my dream on the graduate albums, I left a lot of 'make a real Opimus Prime' or 'make a Bumble Bee'. I did not enter Department of Computer Science in Tsinghua University, my dreamed place. I spend quite a lot of time doing social work in department of mechanical engineeing, which gives me quite good training on leadership and organizing ability. But it is not what I want for life, I need to explore the unknown world, I need to pursue my dream. Fortunately I am enrolled as a master by research student in NUS, where I can work with my little friends and make them intelligent. The real beginning of my academic life.

Courses

Before graduate study, I have little expierence on robotics. But one year in NUS I really learned a lot of things.

ME5401 Linear Systems

ME5403 Computer Control Systems

ME5402 Advanced Robotics

ME5404 Neural Networks

ME5405 Machine Vision

ME6401 Topics in Mechatronics

I finished all the courses open for control division...

Personal

From primary school to high school, have won some prizes in Maths, Physics, Chemistry and Programming.

I am on the department soccer team for 4 years as a starting player when in Tsinghua University.

Vice president of the Student Union of the department. I really dedicated myself to the social works when I am an undergraduate student.

Now sometimes play basketball and soccer. Going to KTV with my gf, who is always the origin of my happiness.

Document:
particle_filter.doc
smc_presentation.ppt