Yu Tian

** ********* ***** ***, *********, TN ***09; 615-***-****;

abndkl@r.postjobfree.com

SUMMARY

. Solid background in dynamics modeling, controller design and

implementation for electromechanical systems

. Proficient with Matlab(6 years), experienced with C++, Java, SolidWorks,

OrCAD, PLC, and Player/Stage

. Demonstrated ability to quickly grasp new concepts with insatiable

appetite for acquiring new skills

. Team player with strong interpersonal skills and excellent writing and

oral communication skills

EDUCATION

PhD, Vanderbilt University, Nashville, TN, USA, 2005-2010(expected)

Mechanical Engineering, GPA: 3.8/4.0

M.E., Chinese Academy of Sciences, China, 1999-2002

Mechatronics Engineering

B.E., Tsinghua University, China, 1994-1999

Mechanical Engineering

EXPERIENCES

1. Research Assistant 2005 - 2009, Vanderbilt University, Nashville, TN

Control and Optimization of a Mobile Robot in Pursuit-Evasion Problem

Subject to Wheel Slips

. Designed state observer which estimates the robot's internal state and

simulated in Matlab/Simulink

. Developed sliding mode-based extremum-seeking control for the robot to

maintain maximum lateral traction force while turning and simulated in

Matlab/Simulink

. Proposed an equivalent kinematic model for the robot pursuer in terms

of motion capabilities and analyzed necessary conditions for the

pursuer to achieve capture based on the equivalent model

. Designed and simulated optimal control for the robot pursuer using a

nonlinear optimization program

Modeling and Control of a Mobile Robot Subject to Wheel Slips

. Developed a new theoretic dynamic model for a nonholonomic wheeled

mobile robot subject to wheel slips and simulated in Matlab/Simulink

. Conducted experiments with a Pioneer 3-DX robot on a slippery surface

to validate the model, where sensory data from a laser sensor, an

accelerometer and encoders is used as feedback

. Designed control algorithms for the model to achieve nonlinear control

tasks (path following and trajectory tracking) and simulated in

Matlab/Simulink

. Designed a discontinuous nonlinear control law to stabilize the

underactuated robot system and simulated in Matlab/Simulink

Multiple Robots Formation Preservation Control

. Designed nonlinear feedback control algorithms for multiple robots

formation control tasks, e.g., formation stabilization, formation

tracking and formation reorganization

. Simulated the control algorithms in Matlab/Simulink

. Implemented the control algorithms in C++ based Aria/MobileSim which

builds a more realistic environment

2. Teaching and Research Assistant 2003 - 2005, Stevens

Institute of Technology, Hoboken, NJ

. Led tutorial sessions for computer lab activities related to courses

in Mechanical Engineering Department.

. Designed and simulated the dynamics of a driver modeled as multi-body

links in a car crash using Auolev

3. Technical Support Engineer 2002 - 2003, HuaTech

Company Ltd., Beijing, China

. Provided support and training for Telecom billing software system to

our clients

. Troubleshot software problems in frontend and backend systems

. Monitored, documented and reported product defects, performance issues

and client demand

4. Research Assistant 1999 - 2002, Chinese

Academy of Sciences, China

. Designed feedback control algorithms for a holonomic wheeled mobile

robot to achieve various motion tasks

. Simulated the control algorithms in real time using C++ in QNX and

implemented them on a holonomic wheeled mobile robot

. Established data communication between the onboard computer and a

Pulse-Width Modulator (PWM), a sonar sensor and encoders

. Established a web server for users to monitor robot activities from

Internet using Java

Yu Tian

COURSE PROJECTS

. Designed and simulated an elevator logic using PLC logic controller

. Built an electric motor from designing and manufacturing to testing

performance

. Designed and simulated hybrid control for electro-mechanical

applications with Matlab/Simulink/Stateflow

. Designed control circuit in OrCad and implemented on an inverse

pendulum to realize state feedback control

. Conducted dynamic modeling, parameter estimation and adaptive control

in a car suspension project with Matlab/Simulink

. Developed a control program for an air hockey video game using Java

. Designed and simulated the dynamics of a driver modeled as multi-body

links in a car crash using Matlab and Solidworks

SELECTED COURSES

Introduction to Robotics, Linear Control, Nonlinear Control, Adaptive

Control, Hybrid & Embedded System, Design of Electromechanical System,

Modeling & Simulation of Dynamic System, Random Process, Finite Element,

AutoCAD, Digital Signal Processing, Operational Research, Analog

Circuit, Digital Circuit

SKILLS

. Specialized in dynamics modeling, controller design and implementation

for electromechanical systems, e.g., Robotic Vehicle, Wheeled Mobile

Robot (Pioneer 3-DX robot) and Robotic Manipulator

. Proficient with Matlab/Simulink (6 years), experienced with C/C++,

SolidWorks, Aria/MobileSim(Player/Stage), Java, OrCad and PLC

. Sound experience with ProEngineer, microprocessor, Matlab real time

workshop, digital signal processing, system identification, operational

research and game theory

HONORS AND ACTIVITIES

. The Excellent Graduate Student, Chinese Academy of Sciences, 2001

. Academic Excellence Scholarship, Tsinghua University, 1994-1998

. Vice President of Vanderbilt University Chinese Student and Scholar

Association, 2006-2007

. Teaching Assistant of System Dynamics at Vanderbilt University.

. Student Member of IEEE and ASME Societies.

SELECTED PUBLICATIONS

1. Tian, Y., Sidek, N., Sarkar, N., "Exploiting Wheel Slips of Mobile

Robots to Improve Navigation Performance", Submitted to International

Journal of Robotics Research, 2009.

2. Tian, Y., Sidek, N., Sarkar, N., "Modeling and Control of a

Nonholonomic Wheeled Mobile Robot with Wheel Slip Dynamics", IEEE

Symposium on Computational Intelligence in Control and Automation,

Nashville, TN, Mar. 2009.

3. Tian, Y., Sidek, N., Sarkar, N., "Tracking Control for Nonholonomic

Wheeled Mobile Robot with Wheel Slip Dynamics", ASME Dynamic Systems

and Control Conference, Hollywood, CA, Oct. 2009.

4. Tian, Y., Sarkar, N., "Near-Optimal Autonomous Pursuit Evasion for

Nonholonomic Wheeled Mobile Robot Subject to Wheel Slip", IEEE

International Conference on Robotics and Automation, Anchorage,

Alaska, May. 2010, accepted for publication.

5. Tian, Y., Sarkar, N., "Game-based Pursuit Evasion for Nonholonomic

Wheeled Mobile Robot Subject to Wheel Slip and its Equivalent

Kinematic Model", In preparation for journal publication.

REFERENCES - furnished upon request

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