Zongyao Jin | Selected

Demonstrations

Architectures and Design Considerations

Frameworks · Embodied AI Robotics
Robotics Software Architecture Abstraction
Logger System Elements and Landscape
Middleware Landscape
Architecture Design · Visualization, Physics, Controller Framework with Cross-Platform Compatibility and Minimum Dependencies
Notes on Software Repository Management and Maintenance

Robot Dynamics and Control

Signal Processing and Numerical Methods

Point-to-Point Trajectory Interpolation Concepts and Implementation
Point-to-Point Trajectory Interpolation in SO(3)
Minimum Jerk Trajectory via Quadratic Programming
Online Trajectory Generator in Rn and SE(3)
Numerical Integration via Runge-Kutta
First-Order Low-Pass Filters in Rn and SE(3)
High-Order Butterworth Filters, Time and Frequency Analysis
Smooth and Conservative Upsampler
Kalman Filters

Rigid Body Motion and Spatial Mathematics

Rigid Body Motion, Concepts and Terminologies
Exponential and Logarithm in SO(3), SE(3), Quaternion Space
Orientation Difference and Cartesian Motion Control Tasks
Spatial Kinematics and Transformations
Spatial Dynamics and Transformations
Rotation Dynamics, Magnus Series, and Implementation
Math Concepts in Robotics and Controls
Constrained Optimization, Lagrange Multiplier
Least Squares, Minimum Norm, Pseudo-Inverse Solutions
Direction and Angle with Dot and Cross Products (Singular Direction with Dot Product in $AA^T$-Eigen Coordinates)

C++ Notes

Robotics Software

Design · Rule-Based Robot Control Software Architecture
Design · Rule-Based Behavior Graph Abstraction
Design · Variable Data Structure
System · Bash Script with Options
System · Tmux via Bash
System · Handy Tools
System · CMake Flags, Expressions, Debug Tricks
System · Ubuntu Setup Notes
System · Ubuntu Setup Notes, Secondary
System · Debian Package Creation
System · Docker 101
System · Virtual Reality Tele-Operation Device Driver
ROS-2 · Foxglove Visualization
ROS-2 · Tracing Information in Launch, Xacro, ROS2_Control
ROS-2 · Rviz and Gazebo

Apps and Tools

Python Notes