Las Vegas, NV, ***** GI HO JANG
addzid@r.postjobfree.com
linkedin.com/in/giho jang
EMPLOYMENT
Chief of Research & Development Rainbow Robotics USA 2018–Present
System integration and UX / UI design (QT, QML) for projector mounted media robots
Developed a path planning solution for a mobile robot with Visual SLAM device (Intel RealSense), Implemented path planning algorithms (Dynamic Window Approach as a Local path planning and WaveFront as a global path planning)
Conducted RTOS (Xenomai based) system integration and code optimization to reduce system overhead for a collaborative robot (RB5)
Designed and implemented API and SDK for RB5 (Design of a 6 DOF collaborative robot arm) to control RB5 over TCP/IP
Conducting bartender robot system integration and developing vision systems to recognize objects for tasks CTO and Co Founder RiCH Robotics 2017–2018
Implemented chatbot client (Android) and server (RESTful API) to interact through human voices using speech recognition (Google Cloud Speech API) and NLP (Dialogflow)
Implemented a housekeeping cart position tracking system using UHF RFID sensors. Designed wireless communication protocols between housekeeping staff computer and manager computer Post Doctor, Research Scientist University of Nevada, Las Vegas 2015–2016 DARPA Robotics Challenge 2015 Finals
Designed semi autonomous robot software framework that overcomes the network degradation with ROS (for machine vision system), RTOS (for robot system), QT (for GUI in the operator system), OpenGL (for visualizing LIDAR data and picking target points), OpenCV (for image compression and object detection), vision sensors
(Cameras, 3D Lidar, microphone) and robot sensors (IMU, FT Sensors, Optical Encoders). Semi autonomous commends requires only type of robot action and its parameters such target object data and robot position
Designed novel network protocols in the event a blackout or degradation occurred
Team DRC HUBO@UNLV placed 8th in the challenge against worldwide qualified finalists Research Assistant Hanyang University, South Korea 2007–2014 Bridge Inspection Robot with Image Processing and Sensor Fusion (1D LIDAR, IMU)
Developed 3 DoF vison module stabilizer for bridge inspection robot with IMU, LIDAR, MCU (F2812) and CAN communication
Developed image processing algorithm for inspecting concrete cracks under bridges using robot system Crack database includes history of crack’s size and location estimated using IMU, LIDAR data and GPS Humanoid Walking with Machine Vision, RTOS, and CAN communication
Researched real time stair walking trajectory generating method for a humanoid robot using machine vision
(RANSAC), stereo vision camera (Bumblebee2, FLIR) and numerical analysis (cubic spline interpolation)
Implemented porting a CAN driver to RTOS (Xenomai) Electromyography based Robot Control with Machine Learning, MCU, and Motor Control
Researched Real time Electromyography (EMG) based robotic arm control method. Optimization (nonlinear programming solver), motion capture device, and IMU are utilized to estimate parameters of dynamic model between EMG signals and arm motion. Machine Learning (LDA) is utilized to classify human arm motions
Developed wireless EMG sensor using Zigbee. Developed multiple channel EMG signal measurement device
Researched EMG based hand grasping motion classifier with EMG sensor module, data glove (training propose) and machine learning (inspired PCA)
Researched EMG based motion classifier and measuring method for amplitude of classified motion. This machine learning method was utilized to control an electric wheelchair for the disabled by facial EMG signals Others (DH Table Calibration, RTOS performance, Hydraulic actuator)
Researched DH parameters calibration to reduce errors between machine vision and robots using 3D position tracker (NDI Polaris), and MCU (STM32)
Implemented automatic PID gain turning method and force/torque controller for hydraulic linear and rotary actuators and designed communication protocol (inspired CANOpen) between motor control module and monitoring GUI with Arduino and CAN
Implemented RTOS 4 DOF motor controller with EtherCAT Motor Drive (Elmo Servo Drive), EtherLab and RTOS. Conducted RTOS performance comparison analysis for EtherCAT motor controller between Xenomai and PREEMPT_RT patch
Software Developer Goldenbell Entertainment 2001–2004
Developed OpenGL ES based 3D game engine for H/W 3D accelerated Embedded System
Implemented 3DS Max plugins for 3D game design
EDUCATION
South Korea Hanyang University Fall 2007–Spring 2015
Ph.D. in Electronic, Electrical, control and Instrumentation Engineering, Feb. 2015. GPA: 3.77/4.0
M.S.E. in Electronic, Electrical, control and Instrumentation Engineering, Aug. 2009. GPA: 3.83/4.0
Graduate Coursework: Theory of Robot Control; Robot Kinematics and Dynamics; Theory of Parallel Robot; Theory of PID Control; Nonlinear System Control; Robust Control Theory; Optimal Control Theory; South Korea Sun Moon University Spring 2000–Spring 2007
B.S. in Computer and Information Sciences, Aug. 2007. GPA: 3.7/4.0
Undergraduate Coursework: OS; DBMS; Algorithms; Compiler; Computer Architecture; Logic Circuit Design; Image Processing; Embedded System; System Programming; OOP Software Design Engineering; LANGUAGES AND TECHNOLOGIES
C/C++; Java; C#.NET; SQL; JavaScript; Python; Visual Studio; QT; Matlab; Android Studio; MCU/DSP
ROS; OpenCV; OpenGL; RTOS; Linux Kernel; Motor Control; RGBD/Stereo Camera(Intel Real Sense T265, D436i); 3D LIDAR; IMU; 3D Position Tracker (NDI Polaris Spectra); Communication Protocol (RS232, TCP/UDP, BLE, Ethercat, EtherLab, CANOpen)
ADDITIONAL EXPERIENCE AN AWARDS
Associate Editor: IEEE/RSJ IROS, Conference Editorial Board, 2017
Outstanding Paper Award from Korea Robotics Society (KROS, 2014)
Book Author: “Balancing via Position Control”, Humanoid Robotics: a Reference, Chapter, Springer, 2018
Patents in South Korea: Structure Inspection Robot Vehicle having the Same; Patent Number 101**********; Electromotive wheelchair cascade control method and apparatus using EMG; Patent Number 101**********
U.S. Permanent Resident (Work without any restrictions)