Robotics systems integration — from the ROS2 middleware layer down to real-time control on an MCU.

Vision-Guided Robot　Differential-drive robot built on Raspberry Pi + STM32. Full Nav2 stack running on real hardware, with a safety layer that sits independently of the navigation stack and has the final say on the MCU — stops within 15 cm of a wall under adversarial goals, and completes a 7-second fully vision-blind traverse without contact. → repo

Master's thesis　Trajectory tracking for a Mecanum-wheel robot using RL-assisted super-twisting integral sliding mode control. 79% RMSE reduction on the physical robot, tested under payload and obstacle conditions.

EAN-13 barcode recognition　Rule-based CV pipeline written from scratch, no barcode libraries. 67.9% exact-match on a 215-image labeled set. → repo

ROS1/ROS2　Nav2　C++　Python　STM32　Linux　Gazebo　OpenCV　Git

M.S. Electrical Engineering (Control), National Sun Yat-sen University